2025-09-04T18:18:33.841Z,1757009913.841 [CommandExec](IMPORTANT): got command restart logs
2025-09-04T18:18:34.088Z,1757009914.088 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-09-04T18:18:34.088Z,1757009914.088 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-09-04T18:18:36.828Z,1757009916.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:18:49.628Z,1757009929.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:19:02.576Z,1757009942.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:19:04.221Z,1757009944.221 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-04T18:19:21.633Z,1757009961.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:19:21.841Z,1757009961.841 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:19:21.841Z,1757009961.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:19:22.093Z,1757009962.093 [DAT](INFO): DAT read: user:2694>

2025-09-04T18:19:22.094Z,1757009962.094 [DAT](INFO): DAT read: Tx time:18:19:21.2330

2025-09-04T18:19:22.094Z,1757009962.094 [DAT](INFO): Ping request sent.
2025-09-04T18:19:22.094Z,1757009962.094 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:19:22.094Z,1757009962.094 [DAT](INFO): publishing transmit ping time
2025-09-04T18:19:22.095Z,1757009962.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-09-04T18:19:22.345Z,1757009962.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250714
2025-09-04T18:19:22.597Z,1757009962.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502590
2025-09-04T18:19:22.849Z,1757009962.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754744
2025-09-04T18:19:23.102Z,1757009963.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007914
2025-09-04T18:19:23.353Z,1757009963.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258584
2025-09-04T18:19:23.605Z,1757009963.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510605
2025-09-04T18:19:23.859Z,1757009963.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764548
2025-09-04T18:19:24.109Z,1757009964.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014661
2025-09-04T18:19:24.361Z,1757009964.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266655
2025-09-04T18:19:24.618Z,1757009964.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524045
2025-09-04T18:19:24.869Z,1757009964.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774907
2025-09-04T18:19:25.121Z,1757009965.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026621
2025-09-04T18:19:25.374Z,1757009965.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279140
2025-09-04T18:19:25.629Z,1757009965.629 [DAT](INFO): DAT read: Rx Time:18:19:24.1621

2025-09-04T18:19:25.630Z,1757009965.630 [DAT](INFO): Rx dataTimestamp_ set to:1757009965.629237
2025-09-04T18:19:25.630Z,1757009965.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535729
2025-09-04T18:19:25.881Z,1757009965.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786621
2025-09-04T18:19:26.138Z,1757009966.138 [DAT](INFO): DAT read: 18:19:24.1621 LVL= 32752, 32753, 21618, 32755, AGC= 72, IDX= 509, 0.01, 0.254, 1.190, 2.692, 1.476, PHS=-1.120,-0.241, 1.172, RAW= 232.3,   1.9, CAL= 229.8,   2.7, ROT= 280.2,  -2.7

2025-09-04T18:19:26.139Z,1757009966.139 [DAT](INFO): got valid direction response:
 18:19:24.1621 LVL= 32752, 32753, 21618, 32755, AGC= 72, IDX= 509, 0.01, 0.254, 1.190, 2.692, 1.476, PHS=-1.120,-0.241, 1.172, RAW= 232.3,   1.9, CAL= 229.8,   2.7, ROT= 280.2,  -2.7

2025-09-04T18:19:26.140Z,1757009966.140 [DAT](INFO): DAT read: Bearing  54.8, -44.7 (Local)

2025-09-04T18:19:26.141Z,1757009966.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.8, -44.7 (Local)

2025-09-04T18:19:26.142Z,1757009966.142 [DAT](INFO): DAT read: Range 11 to 50 : 393.7 m  (Round-trip  525.0 ms) speed  0.0 m/s

2025-09-04T18:19:26.143Z,1757009966.143 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:19:26.144Z,1757009966.144 [DAT](INFO): direction in FSK: [0.176888,-0.983103,0.047106]
2025-09-04T18:19:26.144Z,1757009966.144 [DAT](INFO): publishing direction and range info
2025-09-04T18:19:33.984Z,1757009973.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:20:02.097Z,1757010002.097 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.522827
2025-09-04T18:20:02.423Z,1757010002.423 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-04T18:20:02.423Z,1757010002.423 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-09-04T18:20:02.423Z,1757010002.423 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-09-04T18:20:02.423Z,1757010002.423 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:20:02.423Z,1757010002.423 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-09-04T18:20:02.423Z,1757010002.423 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-04T18:20:02.425Z,1757010002.425 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-04T18:20:03.100Z,1757010003.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:20:13.805Z,1757010013.805 [Radio_Surface](INFO): Powering down
2025-09-04T18:20:21.872Z,1757010021.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:20:21.889Z,1757010021.889 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:20:21.889Z,1757010021.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:20:22.141Z,1757010022.141 [DAT](INFO): DAT read: user:2695>

2025-09-04T18:20:22.142Z,1757010022.142 [DAT](INFO): DAT read: Tx time:18:20:21.2827

2025-09-04T18:20:22.142Z,1757010022.142 [DAT](INFO): Ping request sent.
2025-09-04T18:20:22.142Z,1757010022.142 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:20:22.142Z,1757010022.142 [DAT](INFO): publishing transmit ping time
2025-09-04T18:20:22.143Z,1757010022.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-09-04T18:20:22.393Z,1757010022.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250782
2025-09-04T18:20:22.645Z,1757010022.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502601
2025-09-04T18:20:22.897Z,1757010022.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754734
2025-09-04T18:20:23.149Z,1757010023.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006715
2025-09-04T18:20:23.404Z,1757010023.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260713
2025-09-04T18:20:23.653Z,1757010023.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510712
2025-09-04T18:20:23.905Z,1757010023.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762749
2025-09-04T18:20:24.157Z,1757010024.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014769
2025-09-04T18:20:24.409Z,1757010024.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266728
2025-09-04T18:20:24.661Z,1757010024.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519023
2025-09-04T18:20:24.913Z,1757010024.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770714
2025-09-04T18:20:25.165Z,1757010025.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022740
2025-09-04T18:20:25.423Z,1757010025.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280575
2025-09-04T18:20:25.673Z,1757010025.673 [DAT](INFO): DAT read: Rx Time:18:20:24.2368

2025-09-04T18:20:25.673Z,1757010025.673 [DAT](INFO): Rx dataTimestamp_ set to:1757010025.673196
2025-09-04T18:20:25.674Z,1757010025.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531778
2025-09-04T18:20:25.925Z,1757010025.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782712
2025-09-04T18:20:26.182Z,1757010026.182 [DAT](INFO): DAT read: 18:20:24.2368 LVL= 32176, 24177, 18034, 32659, AGC= 74, IDX= 188,-0.14, 2.358,-2.291,-1.590,-2.559, PHS=-1.265, 0.312, 0.924, RAW= 254.3,   0.3, CAL= 250.2,  -2.3, ROT= 259.8,   2.3

2025-09-04T18:20:26.184Z,1757010026.184 [DAT](INFO): got valid direction response:
 18:20:24.2368 LVL= 32176, 24177, 18034, 32659, AGC= 74, IDX= 188,-0.14, 2.358,-2.291,-1.590,-2.559, PHS=-1.265, 0.312, 0.924, RAW= 254.3,   0.3, CAL= 250.2,  -2.3, ROT= 259.8,   2.3

2025-09-04T18:20:26.185Z,1757010026.185 [DAT](INFO): DAT read: Bearing  78.4, -67.2 (Local)

2025-09-04T18:20:26.185Z,1757010026.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.4, -67.2 (Local)

2025-09-04T18:20:26.186Z,1757010026.186 [DAT](INFO): DAT read: Range 11 to 50 : 412.5 m  (Round-trip  550.0 ms) speed -0.2 m/s

2025-09-04T18:20:26.187Z,1757010026.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:20:26.188Z,1757010026.188 [DAT](INFO): direction in FSK: [-0.176942,-0.983403,-0.040132]
2025-09-04T18:20:26.188Z,1757010026.188 [DAT](INFO): publishing direction and range info
2025-09-04T18:20:33.228Z,1757010033.228 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:20:33.918Z,1757010033.918 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-04T18:20:34.232Z,1757010034.232 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-04T18:20:34.232Z,1757010034.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:21:04.360Z,1757010064.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:21:05.364Z,1757010065.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:21:05.464Z,1757010065.464 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00031122083687,35.0, +14.7,   0.0,15
2025-09-04T18:21:22.004Z,1757010082.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:22.177Z,1757010082.177 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:21:22.177Z,1757010082.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:21:22.429Z,1757010082.429 [DAT](INFO): DAT read: user:2696>

2025-09-04T18:21:22.430Z,1757010082.430 [DAT](INFO): DAT read: Tx time:18:21:21.5325

2025-09-04T18:21:22.430Z,1757010082.430 [DAT](INFO): Ping request sent.
2025-09-04T18:21:22.430Z,1757010082.430 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:21:22.430Z,1757010082.430 [DAT](INFO): publishing transmit ping time
2025-09-04T18:21:22.431Z,1757010082.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-09-04T18:21:22.682Z,1757010082.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251586
2025-09-04T18:21:22.933Z,1757010082.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502799
2025-09-04T18:21:23.185Z,1757010083.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755255
2025-09-04T18:21:23.440Z,1757010083.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009098
2025-09-04T18:21:23.690Z,1757010083.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259499
2025-09-04T18:21:23.941Z,1757010083.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511115
2025-09-04T18:21:24.193Z,1757010084.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762845
2025-09-04T18:21:24.445Z,1757010084.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014777
2025-09-04T18:21:24.698Z,1757010084.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267533
2025-09-04T18:21:24.949Z,1757010084.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518888
2025-09-04T18:21:25.201Z,1757010085.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770651
2025-09-04T18:21:25.455Z,1757010085.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024598
2025-09-04T18:21:25.706Z,1757010085.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275579
2025-09-04T18:21:25.957Z,1757010085.957 [DAT](INFO): DAT read: Rx Time:18:21:24.5199

2025-09-04T18:21:25.958Z,1757010085.958 [DAT](INFO): Rx dataTimestamp_ set to:1757010085.957255
2025-09-04T18:21:25.958Z,1757010085.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527920
2025-09-04T18:21:26.209Z,1757010086.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778785
2025-09-04T18:21:26.468Z,1757010086.468 [DAT](INFO): DAT read: 18:21:24.5199 LVL= 26976, 18833, 19026, 29235, AGC= 71, IDX= 257, 0.23, 1.150,-2.883, 2.461, 2.615, PHS=-1.364, 0.830,-0.199, RAW= 298.0,   7.8, CAL= 295.5,   7.7, ROT= 214.5,  -7.7

2025-09-04T18:21:26.470Z,1757010086.470 [DAT](INFO): got valid direction response:
 18:21:24.5199 LVL= 26976, 18833, 19026, 29235, AGC= 71, IDX= 257, 0.23, 1.150,-2.883, 2.461, 2.615, PHS=-1.364, 0.830,-0.199, RAW= 298.0,   7.8, CAL= 295.5,   7.7, ROT= 214.5,  -7.7

2025-09-04T18:21:26.471Z,1757010086.471 [DAT](INFO): DAT read: Bearing 284.7, -62.7 (Local)

2025-09-04T18:21:26.472Z,1757010086.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.7, -62.7 (Local)

2025-09-04T18:21:26.474Z,1757010086.474 [DAT](INFO): DAT read: Range 11 to 50 : 437.4 m  (Round-trip  583.3 ms) speed -0.4 m/s

2025-09-04T18:21:26.475Z,1757010086.475 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:21:26.484Z,1757010086.484 [DAT](INFO): direction in FSK: [-0.816695,-0.561299,0.133986]
2025-09-04T18:21:26.485Z,1757010086.485 [DAT](INFO): publishing direction and range info
2025-09-04T18:21:35.533Z,1757010095.533 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:21:36.536Z,1757010096.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:21:44.653Z,1757010104.653 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-09-04T18:21:44.654Z,1757010104.654 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-09-04T18:21:44.654Z,1757010104.654 [lineCaptureHoming:InitialDive] Stopped
2025-09-04T18:21:44.654Z,1757010104.654 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-09-04T18:21:44.654Z,1757010104.654 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-09-04T18:21:44.654Z,1757010104.654 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-09-04T18:21:44.655Z,1757010104.655 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-09-04T18:21:44.655Z,1757010104.655 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-09-04T18:21:44.655Z,1757010104.655 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-09-04T18:21:44.655Z,1757010104.655 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-09-04T18:21:44.655Z,1757010104.655 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-09-04T18:21:45.071Z,1757010105.071 [lineCaptureHoming:RepeatHack] Stopped
2025-09-04T18:21:45.071Z,1757010105.071 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-09-04T18:21:45.071Z,1757010105.071 [lineCaptureHoming:RepeatHack:A] Stopped
2025-09-04T18:21:45.071Z,1757010105.071 [lineCaptureHoming:Lap] Running Loop=1
2025-09-04T18:21:45.071Z,1757010105.071 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-09-04T18:21:45.071Z,1757010105.071 [lineCaptureHoming:Lap:A] Running Loop=1
2025-09-04T18:21:45.514Z,1757010105.514 [lineCaptureHoming:Lap:A] Stopped
2025-09-04T18:21:45.514Z,1757010105.514 [lineCaptureHoming:Lap:B] Running Loop=1
2025-09-04T18:21:45.515Z,1757010105.515 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture] Running Loop=1
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-04T18:21:45.865Z,1757010105.865 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-04T18:21:45.866Z,1757010105.866 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-09-04T18:21:45.867Z,1757010105.867 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-09-04T18:21:45.869Z,1757010105.869 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-09-04T18:21:45.869Z,1757010105.869 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-09-04T18:21:45.870Z,1757010105.870 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-09-04T18:21:45.870Z,1757010105.870 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-09-04T18:21:45.870Z,1757010105.870 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-04T18:21:45.870Z,1757010105.870 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-04T18:21:45.871Z,1757010105.871 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-04T18:21:45.871Z,1757010105.871 [lineCaptureHoming:LineCapture:A] Stopped
2025-09-04T18:21:45.871Z,1757010105.871 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-09-04T18:21:46.273Z,1757010106.273 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-09-04T18:21:46.274Z,1757010106.274 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-04T18:21:46.274Z,1757010106.274 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-09-04T18:21:46.275Z,1757010106.275 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 437.399994 m (mode  0.000000 count ).
2025-09-04T18:21:46.275Z,1757010106.275 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-09-04T18:21:46.275Z,1757010106.275 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-09-04T18:21:46.278Z,1757010106.278 [lineCaptureHoming:LineCapture:B] Stopped
2025-09-04T18:21:46.279Z,1757010106.279 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-09-04T18:21:46.675Z,1757010106.675 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-09-04T18:21:46.675Z,1757010106.675 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-09-04T18:21:46.675Z,1757010106.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:46.682Z,1757010106.682 [lineCaptureHoming:LineCapture:D] Stopped
2025-09-04T18:21:46.682Z,1757010106.682 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-09-04T18:21:46.877Z,1757010106.877 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:21:46.877Z,1757010106.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:21:47.078Z,1757010107.078 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-09-04T18:21:47.078Z,1757010107.078 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-09-04T18:21:47.097Z,1757010107.097 [lineCaptureHoming:LineCapture:E] Stopped
2025-09-04T18:21:47.098Z,1757010107.098 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-09-04T18:21:47.130Z,1757010107.130 [DAT](INFO): DAT read: user:2697>

2025-09-04T18:21:47.131Z,1757010107.131 [DAT](INFO): DAT read: Tx time:18:21:46.2339

2025-09-04T18:21:47.131Z,1757010107.131 [DAT](INFO): Ping request sent.
2025-09-04T18:21:47.131Z,1757010107.131 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:21:47.131Z,1757010107.131 [DAT](INFO): publishing transmit ping time
2025-09-04T18:21:47.132Z,1757010107.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-09-04T18:21:47.382Z,1757010107.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250487
2025-09-04T18:21:47.529Z,1757010107.529 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-09-04T18:21:47.530Z,1757010107.530 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-04T18:21:47.530Z,1757010107.530 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-09-04T18:21:47.530Z,1757010107.530 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-04T18:21:47.535Z,1757010107.535 [lineCaptureHoming:LineCapture:F] Stopped
2025-09-04T18:21:47.535Z,1757010107.535 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-09-04T18:21:47.535Z,1757010107.535 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-09-04T18:21:47.535Z,1757010107.535 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-09-04T18:21:47.535Z,1757010107.535 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-04T18:21:47.535Z,1757010107.535 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-09-04T18:21:47.536Z,1757010107.536 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-04T18:21:47.536Z,1757010107.536 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-09-04T18:21:47.536Z,1757010107.536 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-09-04T18:21:47.536Z,1757010107.536 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-04T18:21:47.536Z,1757010107.536 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-04T18:21:47.537Z,1757010107.537 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-04T18:21:47.538Z,1757010107.538 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-09-04T18:21:47.538Z,1757010107.538 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-04T18:21:47.538Z,1757010107.538 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-04T18:21:47.539Z,1757010107.539 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-09-04T18:21:47.540Z,1757010107.540 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-04T18:21:47.540Z,1757010107.540 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-09-04T18:21:47.540Z,1757010107.540 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-09-04T18:21:47.540Z,1757010107.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-04T18:21:47.542Z,1757010107.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-04T18:21:47.542Z,1757010107.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-09-04T18:21:47.543Z,1757010107.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-09-04T18:21:47.544Z,1757010107.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-04T18:21:47.544Z,1757010107.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-04T18:21:47.544Z,1757010107.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-09-04T18:21:47.633Z,1757010107.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502111
2025-09-04T18:21:47.885Z,1757010107.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753935
2025-09-04T18:21:47.897Z,1757010107.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-09-04T18:21:47.897Z,1757010107.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-04T18:21:47.897Z,1757010107.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-09-04T18:21:47.897Z,1757010107.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-04T18:21:47.898Z,1757010107.898 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-09-04T18:21:47.899Z,1757010107.899 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-04T18:21:47.900Z,1757010107.900 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.426014 m.
2025-09-04T18:21:48.137Z,1757010108.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005935
2025-09-04T18:21:48.389Z,1757010108.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258045
2025-09-04T18:21:48.641Z,1757010108.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509913
2025-09-04T18:21:48.687Z,1757010108.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:48.733Z,1757010108.733 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-04T18:21:48.853Z,1757010108.853 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-04T18:21:48.893Z,1757010108.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761932
2025-09-04T18:21:49.145Z,1757010109.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014078
2025-09-04T18:21:49.399Z,1757010109.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267907
2025-09-04T18:21:49.649Z,1757010109.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517929
2025-09-04T18:21:49.909Z,1757010109.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778060
2025-09-04T18:21:50.165Z,1757010110.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033352
2025-09-04T18:21:50.413Z,1757010110.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281921
2025-09-04T18:21:50.665Z,1757010110.665 [DAT](INFO): DAT read: Rx Time:18:21:49.2277

2025-09-04T18:21:50.666Z,1757010110.666 [DAT](INFO): Rx dataTimestamp_ set to:1757010110.665257
2025-09-04T18:21:50.666Z,1757010110.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535032
2025-09-04T18:21:50.728Z,1757010110.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:50.917Z,1757010110.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785887
2025-09-04T18:21:51.174Z,1757010111.174 [DAT](INFO): DAT read: 18:21:49.2277 LVL= 32752, 22593, 27234, 32755, AGC= 68, IDX= 498, 0.06, 1.719,-2.512, 2.807, 2.758, PHS=-0.937, 1.058, 0.004, RAW= 301.9,  -1.5, CAL= 300.6,  -5.5, ROT= 209.4,   5.5

2025-09-04T18:21:51.175Z,1757010111.175 [DAT](INFO): got valid direction response:
 18:21:49.2277 LVL= 32752, 22593, 27234, 32755, AGC= 68, IDX= 498, 0.06, 1.719,-2.512, 2.807, 2.758, PHS=-0.937, 1.058, 0.004, RAW= 301.9,  -1.5, CAL= 300.6,  -5.5, ROT= 209.4,   5.5

2025-09-04T18:21:51.182Z,1757010111.182 [DAT](INFO): DAT read: Bearing 318.1, -33.7 (Local)

2025-09-04T18:21:51.182Z,1757010111.182 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.1, -33.7 (Local)

2025-09-04T18:21:51.184Z,1757010111.184 [DAT](INFO): DAT read: Range 11 to 50 : 442.2 m  (Round-trip  589.6 ms) speed -0.4 m/s

2025-09-04T18:21:51.184Z,1757010111.184 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:21:51.185Z,1757010111.185 [DAT](INFO): direction in FSK: [-0.867203,-0.488644,-0.095846]
2025-09-04T18:21:51.186Z,1757010111.186 [DAT](INFO): publishing direction and range info
2025-09-04T18:21:51.213Z,1757010111.213 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:21:51.213Z,1757010111.213 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:21:51.214Z,1757010111.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:21:51.423Z,1757010111.423 [DAT](INFO): DAT read: user:2698>

2025-09-04T18:21:51.426Z,1757010111.426 [DAT](INFO): DAT read: Tx time:18:21:50.5824

2025-09-04T18:21:51.427Z,1757010111.427 [DAT](INFO): Ping request sent.
2025-09-04T18:21:51.427Z,1757010111.427 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:21:51.428Z,1757010111.428 [DAT](INFO): publishing transmit ping time
2025-09-04T18:21:51.432Z,1757010111.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004640
2025-09-04T18:21:51.673Z,1757010111.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246412
2025-09-04T18:21:51.925Z,1757010111.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498792
2025-09-04T18:21:52.177Z,1757010112.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750455
2025-09-04T18:21:52.429Z,1757010112.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002374
2025-09-04T18:21:52.681Z,1757010112.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254698
2025-09-04T18:21:52.740Z,1757010112.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:52.789Z,1757010112.789 [DockingStepper](INFO): Changing to mode: 3
2025-09-04T18:21:52.933Z,1757010112.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506473
2025-09-04T18:21:53.185Z,1757010113.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758502
2025-09-04T18:21:53.440Z,1757010113.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013101
2025-09-04T18:21:53.689Z,1757010113.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262513
2025-09-04T18:21:53.941Z,1757010113.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514509
2025-09-04T18:21:54.193Z,1757010114.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766680
2025-09-04T18:21:54.446Z,1757010114.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019110
2025-09-04T18:21:54.697Z,1757010114.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270412
2025-09-04T18:21:54.746Z,1757010114.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:54.949Z,1757010114.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522700
2025-09-04T18:21:55.201Z,1757010115.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774528
2025-09-04T18:21:55.457Z,1757010115.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030380
2025-09-04T18:21:55.706Z,1757010115.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279371
2025-09-04T18:21:55.944Z,1757010115.944 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging
2025-09-04T18:21:55.962Z,1757010115.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534457
2025-09-04T18:21:56.209Z,1757010116.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782404
2025-09-04T18:21:56.462Z,1757010116.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034795
2025-09-04T18:21:56.717Z,1757010116.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290507
2025-09-04T18:21:56.804Z,1757010116.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:56.969Z,1757010116.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542549
2025-09-04T18:21:57.221Z,1757010117.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794414
2025-09-04T18:21:57.474Z,1757010117.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047120
2025-09-04T18:21:57.725Z,1757010117.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298494
2025-09-04T18:21:57.977Z,1757010117.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550791
2025-09-04T18:21:58.229Z,1757010118.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802469
2025-09-04T18:21:58.481Z,1757010118.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054789
2025-09-04T18:21:58.737Z,1757010118.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310452
2025-09-04T18:21:58.796Z,1757010118.796 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-09-04T18:21:58.989Z,1757010118.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562584
2025-09-04T18:21:59.186Z,1757010119.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:21:59.241Z,1757010119.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814564
2025-09-04T18:21:59.494Z,1757010119.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067010
2025-09-04T18:21:59.746Z,1757010119.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319650
2025-09-04T18:21:59.997Z,1757010119.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570402
2025-09-04T18:22:00.249Z,1757010120.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822467
2025-09-04T18:22:00.502Z,1757010120.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074843
2025-09-04T18:22:00.753Z,1757010120.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326458
2025-09-04T18:22:01.005Z,1757010121.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578357
2025-09-04T18:22:01.222Z,1757010121.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:01.257Z,1757010121.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830701
2025-09-04T18:22:01.509Z,1757010121.509 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:01.509Z,1757010121.509 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:01.509Z,1757010121.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:01.761Z,1757010121.761 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:01.761Z,1757010121.761 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:01.761Z,1757010121.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:02.013Z,1757010122.013 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:02.013Z,1757010122.013 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:02.013Z,1757010122.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:02.265Z,1757010122.265 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:02.265Z,1757010122.265 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:02.265Z,1757010122.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:02.517Z,1757010122.517 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:02.517Z,1757010122.517 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:02.517Z,1757010122.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:02.769Z,1757010122.769 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:02.769Z,1757010122.769 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:02.769Z,1757010122.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:03.021Z,1757010123.021 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:03.021Z,1757010123.021 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:03.021Z,1757010123.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:03.236Z,1757010123.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:03.277Z,1757010123.277 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:03.277Z,1757010123.277 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:03.277Z,1757010123.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:03.529Z,1757010123.529 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:03.529Z,1757010123.529 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:03.529Z,1757010123.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:03.781Z,1757010123.781 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:22:03.781Z,1757010123.781 [DAT](INFO): response not received
2025-09-04T18:22:03.782Z,1757010123.782 [DAT](INFO): DAT read: user:2699>

2025-09-04T18:22:03.783Z,1757010123.783 [DAT](INFO): DAT read: Tx time:18:22:03.0324

2025-09-04T18:22:03.783Z,1757010123.783 [DAT](INFO): Ping request sent.
2025-09-04T18:22:03.783Z,1757010123.783 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:03.783Z,1757010123.783 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:03.784Z,1757010123.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-09-04T18:22:04.035Z,1757010124.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251347
2025-09-04T18:22:04.285Z,1757010124.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502148
2025-09-04T18:22:04.538Z,1757010124.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755067
2025-09-04T18:22:04.789Z,1757010124.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005934
2025-09-04T18:22:05.042Z,1757010125.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258605
2025-09-04T18:22:05.259Z,1757010125.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:05.293Z,1757010125.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510176
2025-09-04T18:22:05.546Z,1757010125.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762836
2025-09-04T18:22:05.800Z,1757010125.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017375
2025-09-04T18:22:06.054Z,1757010126.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271053
2025-09-04T18:22:06.305Z,1757010126.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521968
2025-09-04T18:22:06.558Z,1757010126.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774719
2025-09-04T18:22:06.656Z,1757010126.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:22:06.809Z,1757010126.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025890
2025-09-04T18:22:07.061Z,1757010127.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277978
2025-09-04T18:22:07.292Z,1757010127.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:07.313Z,1757010127.313 [DAT](INFO): DAT read: Rx Time:18:22:06.0340

2025-09-04T18:22:07.314Z,1757010127.314 [DAT](INFO): Rx dataTimestamp_ set to:1757010127.313343
2025-09-04T18:22:07.314Z,1757010127.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531163
2025-09-04T18:22:07.565Z,1757010127.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782084
2025-09-04T18:22:07.660Z,1757010127.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:22:07.821Z,1757010127.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037057
2025-09-04T18:22:08.075Z,1757010128.075 [DAT](INFO): DAT read: 18:22:06.0340 LVL= 32752, 27025, 32754, 32755, AGC= 73, IDX= 369, 0.24,-1.431, 0.751,-0.415,-0.312, PHS=-1.016, 1.109,-0.147, RAW= 306.0,   0.6, CAL= 304.1,  -3.0, ROT= 205.9,   3.0

2025-09-04T18:22:08.076Z,1757010128.076 [DAT](INFO): got valid direction response:
 18:22:06.0340 LVL= 32752, 27025, 32754, 32755, AGC= 73, IDX= 369, 0.24,-1.431, 0.751,-0.415,-0.312, PHS=-1.016, 1.109,-0.147, RAW= 306.0,   0.6, CAL= 304.1,  -3.0, ROT= 205.9,   3.0

2025-09-04T18:22:08.077Z,1757010128.077 [DAT](INFO): DAT read: Bearing 320.9, -18.7 (Local)

2025-09-04T18:22:08.077Z,1757010128.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9, -18.7 (Local)

2025-09-04T18:22:08.079Z,1757010128.079 [DAT](INFO): DAT read: Range 11 to 50 : 448.1 m  (Round-trip  597.5 ms) speed -0.3 m/s

2025-09-04T18:22:08.079Z,1757010128.079 [DAT](INFO): DAT read: user:2700>

2025-09-04T18:22:08.080Z,1757010128.080 [DAT](INFO): DAT read: Tx time:18:22:07.1324

2025-09-04T18:22:08.081Z,1757010128.081 [DAT](INFO): Ping request sent.
2025-09-04T18:22:08.081Z,1757010128.081 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:08.081Z,1757010128.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:22:08.082Z,1757010128.082 [DAT](INFO): direction in FSK: [-0.898325,-0.436203,-0.052336]
2025-09-04T18:22:08.082Z,1757010128.082 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:08.082Z,1757010128.082 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:08.086Z,1757010128.086 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:08.086Z,1757010128.086 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:09.295Z,1757010129.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:09.342Z,1757010129.342 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:09.342Z,1757010129.342 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:09.342Z,1757010129.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:09.594Z,1757010129.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512765
2025-09-04T18:22:09.845Z,1757010129.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764222
2025-09-04T18:22:10.097Z,1757010130.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016520
2025-09-04T18:22:10.349Z,1757010130.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268261
2025-09-04T18:22:10.601Z,1757010130.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520261
2025-09-04T18:22:10.857Z,1757010130.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776296
2025-09-04T18:22:11.109Z,1757010131.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028282
2025-09-04T18:22:11.314Z,1757010131.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:11.361Z,1757010131.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280217
2025-09-04T18:22:11.614Z,1757010131.614 [DAT](INFO): DAT read: Rx Time:18:22:10.1360

2025-09-04T18:22:11.614Z,1757010131.614 [DAT](INFO): Rx dataTimestamp_ set to:1757010131.613702
2025-09-04T18:22:11.615Z,1757010131.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533805
2025-09-04T18:22:11.865Z,1757010131.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784279
2025-09-04T18:22:12.123Z,1757010132.123 [DAT](INFO): DAT read: 18:22:10.1360 LVL= 32752, 24609, 31698, 32755, AGC= 69, IDX= 439, 0.28, 2.621,-1.406,-2.652,-2.597, PHS=-0.963, 1.236,-0.099, RAW= 307.1,  -1.8, CAL= 305.7,  -5.5, ROT= 204.3,   5.5

2025-09-04T18:22:12.124Z,1757010132.124 [DAT](INFO): got valid direction response:
 18:22:10.1360 LVL= 32752, 24609, 31698, 32755, AGC= 69, IDX= 439, 0.28, 2.621,-1.406,-2.652,-2.597, PHS=-0.963, 1.236,-0.099, RAW= 307.1,  -1.8, CAL= 305.7,  -5.5, ROT= 204.3,   5.5

2025-09-04T18:22:12.125Z,1757010132.125 [DAT](INFO): DAT read: $Error in header

2025-09-04T18:22:12.125Z,1757010132.125 [DAT](INFO): Received a bad header
2025-09-04T18:22:12.144Z,1757010132.144 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:22:12.145Z,1757010132.145 [DAT](INFO): direction in FSK: [-0.907207,-0.409620,-0.095846]
2025-09-04T18:22:12.148Z,1757010132.148 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:12.148Z,1757010132.148 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:12.149Z,1757010132.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:12.369Z,1757010132.369 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:12.369Z,1757010132.369 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:12.369Z,1757010132.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:12.622Z,1757010132.622 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:12.622Z,1757010132.622 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:12.622Z,1757010132.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:12.877Z,1757010132.877 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:12.877Z,1757010132.877 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:12.877Z,1757010132.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:13.129Z,1757010133.129 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:13.129Z,1757010133.129 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:13.129Z,1757010133.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:13.334Z,1757010133.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:13.381Z,1757010133.381 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:13.381Z,1757010133.381 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:13.381Z,1757010133.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:13.633Z,1757010133.633 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:13.633Z,1757010133.633 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:13.633Z,1757010133.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:13.885Z,1757010133.885 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:13.885Z,1757010133.885 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:13.885Z,1757010133.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:14.137Z,1757010134.137 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:14.137Z,1757010134.137 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:14.137Z,1757010134.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:14.389Z,1757010134.389 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:14.389Z,1757010134.389 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:14.389Z,1757010134.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:14.642Z,1757010134.642 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:14.642Z,1757010134.642 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:14.642Z,1757010134.642 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:14.893Z,1757010134.893 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:14.893Z,1757010134.893 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:14.893Z,1757010134.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:15.145Z,1757010135.145 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:15.145Z,1757010135.145 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:15.145Z,1757010135.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:15.349Z,1757010135.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:15.399Z,1757010135.399 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:15.399Z,1757010135.399 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:15.400Z,1757010135.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:15.649Z,1757010135.649 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:15.649Z,1757010135.649 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:15.649Z,1757010135.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:15.901Z,1757010135.901 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:15.901Z,1757010135.901 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:15.901Z,1757010135.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:16.153Z,1757010136.153 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:16.153Z,1757010136.153 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:16.153Z,1757010136.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:16.405Z,1757010136.405 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:16.405Z,1757010136.405 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:16.405Z,1757010136.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:16.657Z,1757010136.657 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:16.657Z,1757010136.657 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:16.657Z,1757010136.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:16.909Z,1757010136.909 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:16.909Z,1757010136.909 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:16.909Z,1757010136.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:17.161Z,1757010137.161 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:17.161Z,1757010137.161 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:17.161Z,1757010137.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:17.370Z,1757010137.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:17.415Z,1757010137.415 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:17.415Z,1757010137.415 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:17.416Z,1757010137.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:17.665Z,1757010137.665 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:17.665Z,1757010137.665 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:17.665Z,1757010137.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:17.917Z,1757010137.917 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:17.917Z,1757010137.917 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:17.917Z,1757010137.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:18.169Z,1757010138.169 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:18.169Z,1757010138.169 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:18.169Z,1757010138.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:18.421Z,1757010138.421 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:18.421Z,1757010138.421 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:18.421Z,1757010138.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:18.673Z,1757010138.673 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:18.673Z,1757010138.673 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:18.674Z,1757010138.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:18.925Z,1757010138.925 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:18.925Z,1757010138.925 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:18.925Z,1757010138.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:19.027Z,1757010139.027 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 448.10 m. Transitioning docking module to standby.
2025-09-04T18:22:19.177Z,1757010139.177 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:19.177Z,1757010139.177 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:19.177Z,1757010139.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:19.422Z,1757010139.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:19.431Z,1757010139.431 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:19.431Z,1757010139.431 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:19.441Z,1757010139.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:19.519Z,1757010139.519 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:22:19.681Z,1757010139.681 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:19.681Z,1757010139.681 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:19.681Z,1757010139.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:19.933Z,1757010139.933 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:19.933Z,1757010139.933 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:19.934Z,1757010139.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:20.185Z,1757010140.185 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:20.185Z,1757010140.185 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:20.185Z,1757010140.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:20.437Z,1757010140.437 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:22:20.437Z,1757010140.437 [DAT](INFO): response not received
2025-09-04T18:22:20.438Z,1757010140.438 [DAT](INFO): DAT read: user:2702>

2025-09-04T18:22:20.439Z,1757010140.439 [DAT](INFO): DAT read: Tx time:18:22:19.5823

2025-09-04T18:22:20.439Z,1757010140.439 [DAT](INFO): Ping request sent.
2025-09-04T18:22:20.439Z,1757010140.439 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:20.439Z,1757010140.439 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:20.440Z,1757010140.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-09-04T18:22:20.689Z,1757010140.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250087
2025-09-04T18:22:20.941Z,1757010140.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502085
2025-09-04T18:22:21.193Z,1757010141.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754029
2025-09-04T18:22:21.448Z,1757010141.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008501
2025-09-04T18:22:21.531Z,1757010141.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:21.697Z,1757010141.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258065
2025-09-04T18:22:21.949Z,1757010141.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510017
2025-09-04T18:22:22.201Z,1757010142.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762402
2025-09-04T18:22:22.453Z,1757010142.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014081
2025-09-04T18:22:22.705Z,1757010142.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266045
2025-09-04T18:22:22.957Z,1757010142.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518049
2025-09-04T18:22:23.209Z,1757010143.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770502
2025-09-04T18:22:23.461Z,1757010143.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022179
2025-09-04T18:22:23.537Z,1757010143.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:23.713Z,1757010143.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274142
2025-09-04T18:22:23.965Z,1757010143.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526094
2025-09-04T18:22:24.217Z,1757010144.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777931
2025-09-04T18:22:24.470Z,1757010144.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030530
2025-09-04T18:22:24.722Z,1757010144.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283121
2025-09-04T18:22:24.973Z,1757010144.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533975
2025-09-04T18:22:25.225Z,1757010145.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786070
2025-09-04T18:22:25.478Z,1757010145.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039416
2025-09-04T18:22:25.535Z,1757010145.535 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-09-04T18:22:25.729Z,1757010145.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290218
2025-09-04T18:22:25.854Z,1757010145.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:25.855Z,1757010145.855 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-09-04T18:22:25.855Z,1757010145.855 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-09-04T18:22:25.855Z,1757010145.855 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-09-04T18:22:25.982Z,1757010145.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543266
2025-09-04T18:22:26.233Z,1757010146.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794190
2025-09-04T18:22:26.275Z,1757010146.275 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-09-04T18:22:26.275Z,1757010146.275 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-09-04T18:22:26.275Z,1757010146.275 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-09-04T18:22:26.485Z,1757010146.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046420
2025-09-04T18:22:26.680Z,1757010146.680 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-09-04T18:22:26.680Z,1757010146.680 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-04T18:22:26.680Z,1757010146.680 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-09-04T18:22:26.680Z,1757010146.680 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-04T18:22:26.681Z,1757010146.681 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-04T18:22:26.737Z,1757010146.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298331
2025-09-04T18:22:26.990Z,1757010146.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551215
2025-09-04T18:22:27.080Z,1757010147.080 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-09-04T18:22:27.081Z,1757010147.081 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-04T18:22:27.082Z,1757010147.082 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-04T18:22:27.082Z,1757010147.082 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-04T18:22:27.082Z,1757010147.082 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-09-04T18:22:27.082Z,1757010147.082 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-04T18:22:27.083Z,1757010147.083 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-09-04T18:22:27.083Z,1757010147.083 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 448.100006 m 
2025-09-04T18:22:27.083Z,1757010147.083 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-09-04T18:22:27.083Z,1757010147.083 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-09-04T18:22:27.091Z,1757010147.091 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-09-04T18:22:27.091Z,1757010147.091 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-09-04T18:22:27.092Z,1757010147.092 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-09-04T18:22:27.092Z,1757010147.092 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-09-04T18:22:27.097Z,1757010147.097 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-09-04T18:22:27.241Z,1757010147.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802029
2025-09-04T18:22:27.494Z,1757010147.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055264
2025-09-04T18:22:27.541Z,1757010147.541 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-09-04T18:22:27.542Z,1757010147.542 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-09-04T18:22:27.543Z,1757010147.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-04T18:22:27.543Z,1757010147.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-09-04T18:22:27.543Z,1757010147.543 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-04T18:22:27.745Z,1757010147.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306067
2025-09-04T18:22:27.894Z,1757010147.894 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-04T18:22:27.894Z,1757010147.894 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-04T18:22:27.894Z,1757010147.894 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-04T18:22:27.895Z,1757010147.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-09-04T18:22:27.901Z,1757010147.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-09-04T18:22:27.902Z,1757010147.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-04T18:22:27.903Z,1757010147.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-04T18:22:27.908Z,1757010147.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-09-04T18:22:27.908Z,1757010147.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-09-04T18:22:27.909Z,1757010147.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-09-04T18:22:27.909Z,1757010147.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-09-04T18:22:27.909Z,1757010147.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-09-04T18:22:27.909Z,1757010147.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-04T18:22:27.909Z,1757010147.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-09-04T18:22:27.910Z,1757010147.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-09-04T18:22:27.910Z,1757010147.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-09-04T18:22:27.911Z,1757010147.911 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-09-04T18:22:27.998Z,1757010147.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559064
2025-09-04T18:22:28.249Z,1757010148.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810227
2025-09-04T18:22:28.327Z,1757010148.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 448.100006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-09-04T18:22:28.330Z,1757010148.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.370331 m,
      bearing: 172.253824 deg,
      lat: 36.779365 deg,
      lon: -121.859321 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-09-04T18:22:28.331Z,1757010148.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:28.333Z,1757010148.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 443.910004 m,
      bearing: 168.586808 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 333.477730 deg,
      new cmd heading: 168.586808 deg.

2025-09-04T18:22:28.334Z,1757010148.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942395 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:28.346Z,1757010148.346 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-09-04T18:22:28.347Z,1757010148.347 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-09-04T18:22:28.501Z,1757010148.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062330
2025-09-04T18:22:28.708Z,1757010148.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:28.711Z,1757010148.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 443.978668 m,
      bearing: 168.578764 deg,
      approach rate: 0.180040 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.586814 deg,
      new cmd heading: 168.578764 deg.

2025-09-04T18:22:28.711Z,1757010148.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942255 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:28.753Z,1757010148.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313988
2025-09-04T18:22:29.005Z,1757010149.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566281
2025-09-04T18:22:29.118Z,1757010149.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:29.125Z,1757010149.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.049133 m,
      bearing: 168.570581 deg,
      approach rate: 0.171971 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.578768 deg,
      new cmd heading: 168.570581 deg.

2025-09-04T18:22:29.126Z,1757010149.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942112 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:29.257Z,1757010149.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818170
2025-09-04T18:22:29.330Z,1757010149.330 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-04T18:22:29.455Z,1757010149.455 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-04T18:22:29.509Z,1757010149.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069990
2025-09-04T18:22:29.581Z,1757010149.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:29.585Z,1757010149.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.132324 m,
      bearing: 168.560347 deg,
      approach rate: 0.179602 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.570585 deg,
      new cmd heading: 168.560347 deg.

2025-09-04T18:22:29.586Z,1757010149.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941933 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:29.761Z,1757010149.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322050
2025-09-04T18:22:29.949Z,1757010149.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:29.951Z,1757010149.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:29.954Z,1757010149.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.196228 m,
      bearing: 168.552515 deg,
      approach rate: 0.172628 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.560353 deg,
      new cmd heading: 168.552515 deg.

2025-09-04T18:22:29.954Z,1757010149.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941796 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:30.014Z,1757010150.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574366
2025-09-04T18:22:30.265Z,1757010150.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826295
2025-09-04T18:22:30.362Z,1757010150.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:30.365Z,1757010150.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.267242 m,
      bearing: 168.543847 deg,
      approach rate: 0.172942 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.552512 deg,
      new cmd heading: 168.543847 deg.

2025-09-04T18:22:30.365Z,1757010150.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941645 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:30.517Z,1757010150.517 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:30.517Z,1757010150.517 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:30.517Z,1757010150.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:30.757Z,1757010150.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:30.759Z,1757010150.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.335602 m,
      bearing: 168.535530 deg,
      approach rate: 0.172998 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.543852 deg,
      new cmd heading: 168.535530 deg.

2025-09-04T18:22:30.760Z,1757010150.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941500 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:30.769Z,1757010150.769 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:30.769Z,1757010150.769 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:30.769Z,1757010150.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:31.021Z,1757010151.021 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:31.021Z,1757010151.021 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:31.021Z,1757010151.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:31.182Z,1757010151.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:31.189Z,1757010151.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.406555 m,
      bearing: 168.526925 deg,
      approach rate: 0.166657 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.535532 deg,
      new cmd heading: 168.526925 deg.

2025-09-04T18:22:31.190Z,1757010151.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941350 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:31.274Z,1757010151.274 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:31.274Z,1757010151.274 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:31.275Z,1757010151.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:31.525Z,1757010151.525 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:31.525Z,1757010151.525 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:31.525Z,1757010151.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:31.598Z,1757010151.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:31.600Z,1757010151.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.472900 m,
      bearing: 168.518339 deg,
      approach rate: 0.159856 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.526926 deg,
      new cmd heading: 168.518339 deg.

2025-09-04T18:22:31.601Z,1757010151.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941200 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:31.777Z,1757010151.777 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:31.777Z,1757010151.777 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:31.777Z,1757010151.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:31.996Z,1757010151.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:31.998Z,1757010151.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:32.001Z,1757010152.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.531158 m,
      bearing: 168.510829 deg,
      approach rate: 0.145468 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.518334 deg,
      new cmd heading: 168.510829 deg.

2025-09-04T18:22:32.002Z,1757010152.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941069 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:32.029Z,1757010152.029 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:32.029Z,1757010152.029 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:32.029Z,1757010152.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:32.281Z,1757010152.281 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:32.282Z,1757010152.282 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:32.282Z,1757010152.282 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:32.374Z,1757010152.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:32.377Z,1757010152.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.592590 m,
      bearing: 168.502909 deg,
      approach rate: 0.163343 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.510835 deg,
      new cmd heading: 168.502909 deg.

2025-09-04T18:22:32.378Z,1757010152.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940931 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:32.533Z,1757010152.533 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:32.533Z,1757010152.533 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:32.533Z,1757010152.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:32.783Z,1757010152.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:32.785Z,1757010152.785 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:22:32.786Z,1757010152.786 [DAT](INFO): response not received
2025-09-04T18:22:32.786Z,1757010152.786 [DAT](INFO): DAT read: user:2703>

2025-09-04T18:22:32.787Z,1757010152.787 [DAT](INFO): DAT read: Tx time:18:22:32.0323

2025-09-04T18:22:32.787Z,1757010152.787 [DAT](INFO): Ping request sent.
2025-09-04T18:22:32.787Z,1757010152.787 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:32.787Z,1757010152.787 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:32.788Z,1757010152.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000841
2025-09-04T18:22:32.791Z,1757010152.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.655609 m,
      bearing: 168.494764 deg,
      approach rate: 0.154061 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.502912 deg,
      new cmd heading: 168.494764 deg.

2025-09-04T18:22:32.791Z,1757010152.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940789 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:33.038Z,1757010153.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250213
2025-09-04T18:22:33.180Z,1757010153.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:33.183Z,1757010153.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.716980 m,
      bearing: 168.486800 deg,
      approach rate: 0.154568 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.494770 deg,
      new cmd heading: 168.486800 deg.

2025-09-04T18:22:33.184Z,1757010153.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940650 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:33.288Z,1757010153.288 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:22:33.290Z,1757010153.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502757
2025-09-04T18:22:33.541Z,1757010153.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754024
2025-09-04T18:22:33.615Z,1757010153.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:33.618Z,1757010153.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.789642 m,
      bearing: 168.477935 deg,
      approach rate: 0.167086 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.486806 deg,
      new cmd heading: 168.477935 deg.

2025-09-04T18:22:33.619Z,1757010153.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940495 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:33.793Z,1757010153.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005934
2025-09-04T18:22:34.006Z,1757010154.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:34.008Z,1757010154.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:34.010Z,1757010154.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.855408 m,
      bearing: 168.469879 deg,
      approach rate: 0.167521 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.477940 deg,
      new cmd heading: 168.469879 deg.

2025-09-04T18:22:34.011Z,1757010154.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940354 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:34.046Z,1757010154.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258551
2025-09-04T18:22:34.300Z,1757010154.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512954
2025-09-04T18:22:34.397Z,1757010154.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:34.400Z,1757010154.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.920532 m,
      bearing: 168.461866 deg,
      approach rate: 0.167108 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.469881 deg,
      new cmd heading: 168.461866 deg.

2025-09-04T18:22:34.401Z,1757010154.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940214 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:34.549Z,1757010154.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762046
2025-09-04T18:22:34.798Z,1757010154.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:34.801Z,1757010154.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013818
2025-09-04T18:22:34.802Z,1757010154.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 444.987213 m,
      bearing: 168.453611 deg,
      approach rate: 0.166552 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.461862 deg,
      new cmd heading: 168.453611 deg.

2025-09-04T18:22:34.803Z,1757010154.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940070 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:35.053Z,1757010155.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265912
2025-09-04T18:22:35.202Z,1757010155.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:35.205Z,1757010155.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 445.054352 m,
      bearing: 168.445226 deg,
      approach rate: 0.165966 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.453611 deg,
      new cmd heading: 168.445226 deg.

2025-09-04T18:22:35.206Z,1757010155.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939924 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:35.306Z,1757010155.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518589
2025-09-04T18:22:35.557Z,1757010155.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769742
2025-09-04T18:22:35.641Z,1757010155.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:35.644Z,1757010155.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 445.154114 m,
      bearing: 168.434788 deg,
      approach rate: 0.227197 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.445224 deg,
      new cmd heading: 168.434788 deg.

2025-09-04T18:22:35.645Z,1757010155.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939742 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:35.809Z,1757010155.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021676
2025-09-04T18:22:36.018Z,1757010156.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:36.024Z,1757010156.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:36.027Z,1757010156.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 445.239716 m,
      bearing: 168.425738 deg,
      approach rate: 0.226001 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.434787 deg,
      new cmd heading: 168.425738 deg.

2025-09-04T18:22:36.028Z,1757010156.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939584 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:36.062Z,1757010156.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274915
2025-09-04T18:22:36.314Z,1757010156.314 [DAT](INFO): DAT read: Rx Time:18:22:35.0416

2025-09-04T18:22:36.314Z,1757010156.314 [DAT](INFO): Rx dataTimestamp_ set to:1757010156.314195
2025-09-04T18:22:36.315Z,1757010156.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527743
2025-09-04T18:22:36.434Z,1757010156.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:36.443Z,1757010156.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 445.333160 m,
      bearing: 168.415748 deg,
      approach rate: 0.225515 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.425744 deg,
      new cmd heading: 168.415748 deg.

2025-09-04T18:22:36.444Z,1757010156.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939409 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:36.566Z,1757010156.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778637
2025-09-04T18:22:36.820Z,1757010156.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032560
2025-09-04T18:22:36.900Z,1757010156.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.37 m.
2025-09-04T18:22:36.903Z,1757010156.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 446.370331 m,
      nav range: 445.434692 m,
      bearing: 168.404769 deg,
      approach rate: 0.217908 m/s,
      LOS rate: nan deg/s,
      cmd heading: 168.415745 deg,
      new cmd heading: 168.404769 deg.

2025-09-04T18:22:36.904Z,1757010156.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939218 target range: 446.370331 and range: 448.10 m.
2025-09-04T18:22:37.075Z,1757010157.075 [DAT](INFO): DAT read: 18:22:35.0416 LVL= 32752, 27313, 32754, 32755, AGC= 77, IDX= 466,-0.04,-2.325, 0.075,-1.362,-1.266, PHS=-0.957, 1.386,-0.140, RAW= 309.9,  -2.8, CAL= 308.6,  -6.3, ROT= 201.4,   6.3

2025-09-04T18:22:37.076Z,1757010157.076 [DAT](INFO): got valid direction response:
 18:22:35.0416 LVL= 32752, 27313, 32754, 32755, AGC= 77, IDX= 466,-0.04,-2.325, 0.075,-1.362,-1.266, PHS=-0.957, 1.386,-0.140, RAW= 309.9,  -2.8, CAL= 308.6,  -6.3, ROT= 201.4,   6.3

2025-09-04T18:22:37.077Z,1757010157.077 [DAT](INFO): DAT read: Bearing 326.0, -16.7 (Local)

2025-09-04T18:22:37.077Z,1757010157.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.0, -16.7 (Local)

2025-09-04T18:22:37.078Z,1757010157.078 [DAT](INFO): DAT read: Range 11 to 50 : 453.9 m  (Round-trip  605.2 ms) speed -0.4 m/s

2025-09-04T18:22:37.079Z,1757010157.079 [DAT](INFO): DAT read: user:2704>

2025-09-04T18:22:37.080Z,1757010157.080 [DAT](INFO): DAT read: Tx time:18:22:36.1323

2025-09-04T18:22:37.080Z,1757010157.080 [DAT](INFO): Ping request sent.
2025-09-04T18:22:37.080Z,1757010157.080 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:37.081Z,1757010157.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:22:37.082Z,1757010157.082 [DAT](INFO): direction in FSK: [-0.925433,-0.362673,-0.109734]
2025-09-04T18:22:37.082Z,1757010157.082 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:37.082Z,1757010157.082 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:37.085Z,1757010157.085 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:37.085Z,1757010157.085 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:37.294Z,1757010157.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 453.899994 m,
      deltaT: 28.999833 s,
      deltaX: 5.799988 m,
      approachRate: 0.200001 m/s,
      rangeRepo size: 2

2025-09-04T18:22:37.301Z,1757010157.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.148529 m,
      bearing: 173.114450 deg,
      lat: 36.779319 deg,
      lon: -121.859452 deg,
      deltaT: 28.999833 s,
      deltaX: 5.778198 m,
      approachRate: 0.199249 m/s,
      posRepo size: 2

2025-09-04T18:22:37.302Z,1757010157.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:37.303Z,1757010157.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 173.114450 deg.
2025-09-04T18:22:37.304Z,1757010157.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.021417 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:37.674Z,1757010157.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:37.677Z,1757010157.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 448.464813 m,
      bearing: 169.980844 deg,
      approach rate: 0.303227 m/s,
      LOS rate: -0.032132 deg/s,
      cmd heading: 173.114450 deg,
      new cmd heading: 173.090003 deg.

2025-09-04T18:22:37.678Z,1757010157.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020990 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:37.794Z,1757010157.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:22:38.069Z,1757010158.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:38.071Z,1757010158.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:38.074Z,1757010158.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 448.573639 m,
      bearing: 169.969150 deg,
      approach rate: 0.273871 m/s,
      LOS rate: -0.029423 deg/s,
      cmd heading: 173.089998 deg,
      new cmd heading: 173.066615 deg.

2025-09-04T18:22:38.075Z,1757010158.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020582 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:38.077Z,1757010158.077 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:38.077Z,1757010158.077 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:38.077Z,1757010158.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:38.329Z,1757010158.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248844
2025-09-04T18:22:38.454Z,1757010158.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:38.478Z,1757010158.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 448.676666 m,
      bearing: 169.957919 deg,
      approach rate: 0.270501 m/s,
      LOS rate: -0.029481 deg/s,
      cmd heading: 173.066612 deg,
      new cmd heading: 173.044154 deg.

2025-09-04T18:22:38.479Z,1757010158.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.020190 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:38.582Z,1757010158.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501399
2025-09-04T18:22:38.796Z,1757010158.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:22:38.833Z,1757010158.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752737
2025-09-04T18:22:38.870Z,1757010158.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:38.877Z,1757010158.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 448.785858 m,
      bearing: 169.945813 deg,
      approach rate: 0.261173 m/s,
      LOS rate: -0.028947 deg/s,
      cmd heading: 173.044154 deg,
      new cmd heading: 173.019950 deg.

2025-09-04T18:22:38.878Z,1757010158.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019768 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:39.085Z,1757010159.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004772
2025-09-04T18:22:39.244Z,1757010159.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:39.263Z,1757010159.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 448.893402 m,
      bearing: 169.933682 deg,
      approach rate: 0.287683 m/s,
      LOS rate: -0.032445 deg/s,
      cmd heading: 173.019948 deg,
      new cmd heading: 172.995690 deg.

2025-09-04T18:22:39.264Z,1757010159.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.019344 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:39.337Z,1757010159.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256683
2025-09-04T18:22:39.589Z,1757010159.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508702
2025-09-04T18:22:39.678Z,1757010159.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:39.698Z,1757010159.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.041687 m,
      bearing: 169.918716 deg,
      approach rate: 0.341161 m/s,
      LOS rate: -0.034421 deg/s,
      cmd heading: 172.995687 deg,
      new cmd heading: 172.965765 deg.

2025-09-04T18:22:39.699Z,1757010159.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.018822 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:39.841Z,1757010159.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760688
2025-09-04T18:22:40.062Z,1757010160.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:40.065Z,1757010160.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.171814 m,
      bearing: 169.905352 deg,
      approach rate: 0.339397 m/s,
      LOS rate: -0.034845 deg/s,
      cmd heading: 172.965771 deg,
      new cmd heading: 172.939052 deg.

2025-09-04T18:22:40.066Z,1757010160.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.018356 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:40.093Z,1757010160.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012937
2025-09-04T18:22:40.345Z,1757010160.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264701
2025-09-04T18:22:40.500Z,1757010160.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:40.505Z,1757010160.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:40.508Z,1757010160.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.318512 m,
      bearing: 169.890008 deg,
      approach rate: 0.331955 m/s,
      LOS rate: -0.034712 deg/s,
      cmd heading: 172.939051 deg,
      new cmd heading: 172.908371 deg.

2025-09-04T18:22:40.509Z,1757010160.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017820 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:40.606Z,1757010160.606 [DAT](INFO): DAT read: 18:22:39.1434 LVL= 32752, 26737, 29058, 32755, AGC= 74, IDX= 452,-0.15,-0.933, 1.243, 0.035, 0.142, PHS=-0.972, 1.146,-0.151, RAW= 307.4,  -0.2, CAL= 305.7,  -3.8, ROT= 204.3,   3.8

2025-09-04T18:22:40.608Z,1757010160.608 [DAT](INFO): got valid direction response:
 18:22:39.1434 LVL= 32752, 26737, 29058, 32755, AGC= 74, IDX= 452,-0.15,-0.933, 1.243, 0.035, 0.142, PHS=-0.972, 1.146,-0.151, RAW= 307.4,  -0.2, CAL= 305.7,  -3.8, ROT= 204.3,   3.8

2025-09-04T18:22:40.609Z,1757010160.609 [DAT](INFO): DAT read: Rx Time:18:22:39.1434

2025-09-04T18:22:40.610Z,1757010160.610 [DAT](INFO): Rx dataTimestamp_ set to:1757010160.609401
2025-09-04T18:22:40.611Z,1757010160.611 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-04T18:22:40.611Z,1757010160.611 [DAT](INFO): Received low SNR in chirp
2025-09-04T18:22:40.625Z,1757010160.625 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:22:40.626Z,1757010160.626 [DAT](INFO): direction in FSK: [-0.909400,-0.410610,-0.066274]
2025-09-04T18:22:40.629Z,1757010160.629 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:40.630Z,1757010160.630 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:40.630Z,1757010160.630 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:40.849Z,1757010160.849 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:40.849Z,1757010160.849 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:40.849Z,1757010160.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:40.927Z,1757010160.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:40.930Z,1757010160.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.463226 m,
      bearing: 169.874886 deg,
      approach rate: 0.341860 m/s,
      LOS rate: -0.035710 deg/s,
      cmd heading: 172.908370 deg,
      new cmd heading: 172.878136 deg.

2025-09-04T18:22:40.931Z,1757010160.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.017293 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:41.101Z,1757010161.101 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:41.101Z,1757010161.101 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:41.101Z,1757010161.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:41.321Z,1757010161.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:41.324Z,1757010161.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.593597 m,
      bearing: 169.860704 deg,
      approach rate: 0.330907 m/s,
      LOS rate: -0.035985 deg/s,
      cmd heading: 172.878139 deg,
      new cmd heading: 172.849784 deg.

2025-09-04T18:22:41.325Z,1757010161.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016798 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:41.369Z,1757010161.369 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:41.369Z,1757010161.369 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:41.369Z,1757010161.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:41.621Z,1757010161.621 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:41.622Z,1757010161.622 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:41.622Z,1757010161.622 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:41.744Z,1757010161.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:41.747Z,1757010161.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.755463 m,
      bearing: 169.844359 deg,
      approach rate: 0.382623 m/s,
      LOS rate: -0.038623 deg/s,
      cmd heading: 172.849780 deg,
      new cmd heading: 172.817102 deg.

2025-09-04T18:22:41.749Z,1757010161.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.016227 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:41.873Z,1757010161.873 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:41.873Z,1757010161.873 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:41.873Z,1757010161.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:42.125Z,1757010162.125 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:42.125Z,1757010162.125 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:42.125Z,1757010162.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:42.130Z,1757010162.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:42.133Z,1757010162.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 449.901062 m,
      bearing: 169.829351 deg,
      approach rate: 0.376779 m/s,
      LOS rate: -0.038826 deg/s,
      cmd heading: 172.817105 deg,
      new cmd heading: 172.787097 deg.

2025-09-04T18:22:42.134Z,1757010162.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015704 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:42.380Z,1757010162.380 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:42.380Z,1757010162.380 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:42.381Z,1757010162.381 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:42.551Z,1757010162.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:42.553Z,1757010162.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:42.556Z,1757010162.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.061737 m,
      bearing: 169.812804 deg,
      approach rate: 0.380211 m/s,
      LOS rate: -0.039142 deg/s,
      cmd heading: 172.787093 deg,
      new cmd heading: 172.754011 deg.

2025-09-04T18:22:42.557Z,1757010162.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.015126 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:42.629Z,1757010162.629 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:42.629Z,1757010162.629 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:42.630Z,1757010162.630 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:42.881Z,1757010162.881 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:42.881Z,1757010162.881 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:42.882Z,1757010162.882 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:42.926Z,1757010162.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:42.932Z,1757010162.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.200897 m,
      bearing: 169.797844 deg,
      approach rate: 0.372798 m/s,
      LOS rate: -0.040063 deg/s,
      cmd heading: 172.754008 deg,
      new cmd heading: 172.724098 deg.

2025-09-04T18:22:42.935Z,1757010162.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.014604 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:43.133Z,1757010163.133 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:43.133Z,1757010163.133 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:43.133Z,1757010163.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:43.354Z,1757010163.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:43.357Z,1757010163.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.360504 m,
      bearing: 169.780699 deg,
      approach rate: 0.373182 m/s,
      LOS rate: -0.040072 deg/s,
      cmd heading: 172.724091 deg,
      new cmd heading: 172.689815 deg.

2025-09-04T18:22:43.358Z,1757010163.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.014006 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:43.386Z,1757010163.386 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:43.386Z,1757010163.386 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:43.386Z,1757010163.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:43.637Z,1757010163.637 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:43.637Z,1757010163.637 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:43.637Z,1757010163.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:43.762Z,1757010163.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:43.765Z,1757010163.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.518890 m,
      bearing: 169.764593 deg,
      approach rate: 0.388461 m/s,
      LOS rate: -0.039490 deg/s,
      cmd heading: 172.689817 deg,
      new cmd heading: 172.657615 deg.

2025-09-04T18:22:43.766Z,1757010163.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.013444 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:43.890Z,1757010163.890 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:43.890Z,1757010163.890 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:43.890Z,1757010163.890 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:44.141Z,1757010164.141 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:44.141Z,1757010164.141 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:44.141Z,1757010164.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:44.157Z,1757010164.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:44.168Z,1757010164.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.663483 m,
      bearing: 169.749550 deg,
      approach rate: 0.365742 m/s,
      LOS rate: -0.038038 deg/s,
      cmd heading: 172.657620 deg,
      new cmd heading: 172.627544 deg.

2025-09-04T18:22:44.169Z,1757010164.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.012919 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:44.393Z,1757010164.393 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:44.393Z,1757010164.393 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:44.393Z,1757010164.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:44.555Z,1757010164.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:44.569Z,1757010164.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:44.577Z,1757010164.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.823334 m,
      bearing: 169.732533 deg,
      approach rate: 0.387997 m/s,
      LOS rate: -0.041289 deg/s,
      cmd heading: 172.627540 deg,
      new cmd heading: 172.593518 deg.

2025-09-04T18:22:44.578Z,1757010164.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.012325 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:44.645Z,1757010164.645 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:44.645Z,1757010164.645 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:44.645Z,1757010164.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:44.897Z,1757010164.897 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:44.897Z,1757010164.897 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:44.897Z,1757010164.897 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:44.992Z,1757010164.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:44.994Z,1757010164.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 450.987671 m,
      bearing: 169.714630 deg,
      approach rate: 0.389005 m/s,
      LOS rate: -0.042362 deg/s,
      cmd heading: 172.593512 deg,
      new cmd heading: 172.557719 deg.

2025-09-04T18:22:44.995Z,1757010164.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011700 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:45.149Z,1757010165.149 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:45.149Z,1757010165.149 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:45.149Z,1757010165.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:45.355Z,1757010165.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:45.358Z,1757010165.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 451.123444 m,
      bearing: 169.699480 deg,
      approach rate: 0.373305 m/s,
      LOS rate: -0.041642 deg/s,
      cmd heading: 172.557722 deg,
      new cmd heading: 172.527431 deg.

2025-09-04T18:22:45.359Z,1757010165.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.011172 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:45.402Z,1757010165.402 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:45.403Z,1757010165.403 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:45.403Z,1757010165.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:45.653Z,1757010165.653 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:45.653Z,1757010165.653 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:45.653Z,1757010165.653 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:45.782Z,1757010165.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:45.785Z,1757010165.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 451.289429 m,
      bearing: 169.681444 deg,
      approach rate: 0.388551 m/s,
      LOS rate: -0.042205 deg/s,
      cmd heading: 172.527437 deg,
      new cmd heading: 172.491377 deg.

2025-09-04T18:22:45.786Z,1757010165.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.010542 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:45.906Z,1757010165.906 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:45.906Z,1757010165.906 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:45.906Z,1757010165.906 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:46.157Z,1757010166.157 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:46.157Z,1757010166.157 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:46.157Z,1757010166.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:46.163Z,1757010166.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:46.166Z,1757010166.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 451.435181 m,
      bearing: 169.665200 deg,
      approach rate: 0.383190 m/s,
      LOS rate: -0.042694 deg/s,
      cmd heading: 172.491373 deg,
      new cmd heading: 172.458894 deg.

2025-09-04T18:22:46.167Z,1757010166.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.009975 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:46.409Z,1757010166.409 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:46.409Z,1757010166.409 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:46.409Z,1757010166.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:46.560Z,1757010166.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:46.562Z,1757010166.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:46.565Z,1757010166.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 451.586578 m,
      bearing: 169.647862 deg,
      approach rate: 0.379389 m/s,
      LOS rate: -0.043433 deg/s,
      cmd heading: 172.458889 deg,
      new cmd heading: 172.424224 deg.

2025-09-04T18:22:46.566Z,1757010166.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.009370 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:46.661Z,1757010166.661 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:46.662Z,1757010166.662 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:46.662Z,1757010166.662 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:46.913Z,1757010166.913 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:46.913Z,1757010166.913 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:46.913Z,1757010166.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:22:47.001Z,1757010167.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:47.008Z,1757010167.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 451.747009 m,
      bearing: 169.628942 deg,
      approach rate: 0.365189 m/s,
      LOS rate: -0.043052 deg/s,
      cmd heading: 172.424219 deg,
      new cmd heading: 172.386393 deg.

2025-09-04T18:22:47.009Z,1757010167.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008710 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:47.165Z,1757010167.165 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:47.165Z,1757010167.165 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:47.166Z,1757010167.166 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:47.371Z,1757010167.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:47.378Z,1757010167.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 451.888031 m,
      bearing: 169.611819 deg,
      approach rate: 0.381024 m/s,
      LOS rate: -0.046249 deg/s,
      cmd heading: 172.386393 deg,
      new cmd heading: 172.352159 deg.

2025-09-04T18:22:47.379Z,1757010167.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008113 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:47.419Z,1757010167.419 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:47.421Z,1757010167.421 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:47.422Z,1757010167.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:47.670Z,1757010167.670 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:47.670Z,1757010167.670 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:47.671Z,1757010167.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:47.807Z,1757010167.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:47.810Z,1757010167.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.053772 m,
      bearing: 169.590250 deg,
      approach rate: 0.380108 m/s,
      LOS rate: -0.049449 deg/s,
      cmd heading: 172.352160 deg,
      new cmd heading: 172.309037 deg.

2025-09-04T18:22:47.811Z,1757010167.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.007360 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:47.923Z,1757010167.923 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:47.923Z,1757010167.923 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:47.924Z,1757010167.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:48.173Z,1757010168.173 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:48.173Z,1757010168.173 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:48.173Z,1757010168.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:48.192Z,1757010168.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:48.195Z,1757010168.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.198273 m,
      bearing: 169.570881 deg,
      approach rate: 0.375726 m/s,
      LOS rate: -0.050346 deg/s,
      cmd heading: 172.309034 deg,
      new cmd heading: 172.270309 deg.

2025-09-04T18:22:48.196Z,1757010168.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.006684 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:48.426Z,1757010168.426 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:48.426Z,1757010168.426 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:48.426Z,1757010168.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:48.608Z,1757010168.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:48.610Z,1757010168.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:48.613Z,1757010168.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.355560 m,
      bearing: 169.549818 deg,
      approach rate: 0.376241 m/s,
      LOS rate: -0.050365 deg/s,
      cmd heading: 172.270307 deg,
      new cmd heading: 172.228197 deg.

2025-09-04T18:22:48.615Z,1757010168.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005949 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:48.679Z,1757010168.679 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:48.679Z,1757010168.679 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:48.680Z,1757010168.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:48.934Z,1757010168.934 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:48.935Z,1757010168.935 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:48.935Z,1757010168.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:49.002Z,1757010169.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:49.005Z,1757010169.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.497467 m,
      bearing: 169.529484 deg,
      approach rate: 0.361941 m/s,
      LOS rate: -0.051848 deg/s,
      cmd heading: 172.228192 deg,
      new cmd heading: 172.187536 deg.

2025-09-04T18:22:49.006Z,1757010169.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.005239 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:49.185Z,1757010169.185 [DAT](INFO): Reached modem response timeout
2025-09-04T18:22:49.185Z,1757010169.185 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:22:49.185Z,1757010169.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:49.441Z,1757010169.441 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:22:49.442Z,1757010169.442 [DAT](INFO): response not received
2025-09-04T18:22:49.443Z,1757010169.443 [DAT](INFO): DAT read: user:2706>

2025-09-04T18:22:49.446Z,1757010169.446 [DAT](INFO): DAT read: Tx time:18:22:48.5822

2025-09-04T18:22:49.447Z,1757010169.447 [DAT](INFO): Ping request sent.
2025-09-04T18:22:49.447Z,1757010169.447 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:49.448Z,1757010169.448 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:49.451Z,1757010169.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003104
2025-09-04T18:22:49.464Z,1757010169.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:49.467Z,1757010169.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.637604 m,
      bearing: 169.508726 deg,
      approach rate: 0.305891 m/s,
      LOS rate: -0.045296 deg/s,
      cmd heading: 172.187539 deg,
      new cmd heading: 172.146037 deg.

2025-09-04T18:22:49.473Z,1757010169.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004515 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:49.689Z,1757010169.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242291
2025-09-04T18:22:49.874Z,1757010169.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:49.877Z,1757010169.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.813599 m,
      bearing: 169.480429 deg,
      approach rate: 0.425324 m/s,
      LOS rate: -0.068359 deg/s,
      cmd heading: 172.146039 deg,
      new cmd heading: 172.089466 deg.

2025-09-04T18:22:49.878Z,1757010169.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.003528 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:49.942Z,1757010169.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495197
2025-09-04T18:22:50.193Z,1757010170.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746026
2025-09-04T18:22:50.277Z,1757010170.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:50.280Z,1757010170.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 452.961639 m,
      bearing: 169.456656 deg,
      approach rate: 0.367616 m/s,
      LOS rate: -0.059013 deg/s,
      cmd heading: 172.089471 deg,
      new cmd heading: 172.041941 deg.

2025-09-04T18:22:50.281Z,1757010170.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.002698 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:50.445Z,1757010170.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998145
2025-09-04T18:22:50.651Z,1757010170.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:50.654Z,1757010170.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:50.657Z,1757010170.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.094482 m,
      bearing: 169.433670 deg,
      approach rate: 0.352420 m/s,
      LOS rate: -0.060963 deg/s,
      cmd heading: 172.041947 deg,
      new cmd heading: 171.995987 deg.

2025-09-04T18:22:50.658Z,1757010170.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.001896 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:50.697Z,1757010170.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250433
2025-09-04T18:22:50.949Z,1757010170.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502278
2025-09-04T18:22:51.078Z,1757010171.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:51.085Z,1757010171.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.237457 m,
      bearing: 169.407989 deg,
      approach rate: 0.336870 m/s,
      LOS rate: -0.060489 deg/s,
      cmd heading: 171.995993 deg,
      new cmd heading: 171.944648 deg.

2025-09-04T18:22:51.086Z,1757010171.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.001000 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:51.203Z,1757010171.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755726
2025-09-04T18:22:51.455Z,1757010171.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008117
2025-09-04T18:22:51.542Z,1757010171.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:51.545Z,1757010171.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.417786 m,
      bearing: 169.377664 deg,
      approach rate: 0.388717 m/s,
      LOS rate: -0.065341 deg/s,
      cmd heading: 171.944644 deg,
      new cmd heading: 171.884019 deg.

2025-09-04T18:22:51.546Z,1757010171.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.999942 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:51.707Z,1757010171.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259691
2025-09-04T18:22:51.957Z,1757010171.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510129
2025-09-04T18:22:51.993Z,1757010171.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:51.995Z,1757010171.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.578766 m,
      bearing: 169.348416 deg,
      approach rate: 0.356942 m/s,
      LOS rate: -0.064830 deg/s,
      cmd heading: 171.884019 deg,
      new cmd heading: 171.825543 deg.

2025-09-04T18:22:51.997Z,1757010171.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998921 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:52.209Z,1757010172.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761975
2025-09-04T18:22:52.378Z,1757010172.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:52.382Z,1757010172.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.717987 m,
      bearing: 169.322140 deg,
      approach rate: 0.361235 m/s,
      LOS rate: -0.068157 deg/s,
      cmd heading: 171.825539 deg,
      new cmd heading: 171.773004 deg.

2025-09-04T18:22:52.383Z,1757010172.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998004 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:52.463Z,1757010172.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016217
2025-09-04T18:22:52.714Z,1757010172.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266739
2025-09-04T18:22:52.786Z,1757010172.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:52.788Z,1757010172.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:52.791Z,1757010172.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.858856 m,
      bearing: 169.294472 deg,
      approach rate: 0.343693 m/s,
      LOS rate: -0.067483 deg/s,
      cmd heading: 171.773001 deg,
      new cmd heading: 171.717683 deg.

2025-09-04T18:22:52.792Z,1757010172.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.997039 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:52.965Z,1757010172.965 [DAT](INFO): DAT read: Rx Time:18:22:51.5995

2025-09-04T18:22:52.965Z,1757010172.965 [DAT](INFO): Rx dataTimestamp_ set to:1757010172.965207
2025-09-04T18:22:52.966Z,1757010172.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519052
2025-09-04T18:22:53.200Z,1757010173.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.15 m.
2025-09-04T18:22:53.203Z,1757010173.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.148529 m,
      nav range: 453.992126 m,
      bearing: 169.267256 deg,
      approach rate: 0.323779 m/s,
      LOS rate: -0.066102 deg/s,
      cmd heading: 171.717677 deg,
      new cmd heading: 171.663261 deg.

2025-09-04T18:22:53.204Z,1757010173.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.996089 target range: 452.148529 and range: 453.90 m.
2025-09-04T18:22:53.217Z,1757010173.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770077
2025-09-04T18:22:53.479Z,1757010173.479 [DAT](INFO): DAT read: 18:22:51.5995 LVL= 19280, 17121, 19954, 22691, AGC= 70, IDX= 390,-0.01, 2.856,-1.237,-1.983,-2.069, PHS=-1.257, 0.877, 0.041, RAW= 292.9,   3.7, CAL= 291.0,  -1.0, ROT= 219.0,   1.0

2025-09-04T18:22:53.490Z,1757010173.490 [DAT](INFO): got valid direction response:
 18:22:51.5995 LVL= 19280, 17121, 19954, 22691, AGC= 70, IDX= 390,-0.01, 2.856,-1.237,-1.983,-2.069, PHS=-1.257, 0.877, 0.041, RAW= 292.9,   3.7, CAL= 291.0,  -1.0, ROT= 219.0,   1.0

2025-09-04T18:22:53.491Z,1757010173.491 [DAT](INFO): DAT read: Bearing 294.4, -39.9 (Local)

2025-09-04T18:22:53.492Z,1757010173.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.4, -39.9 (Local)

2025-09-04T18:22:53.494Z,1757010173.494 [DAT](INFO): DAT read: Range 11 to 50 : 459.8 m  (Round-trip  613.1 ms) speed -0.6 m/s

2025-09-04T18:22:53.495Z,1757010173.495 [DAT](INFO): DAT read: user:2707>

2025-09-04T18:22:53.536Z,1757010173.536 [DAT](INFO): DAT read: Tx time:18:22:52.7322

2025-09-04T18:22:53.537Z,1757010173.537 [DAT](INFO): Ping request sent.
2025-09-04T18:22:53.537Z,1757010173.537 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:53.537Z,1757010173.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:22:53.538Z,1757010173.538 [DAT](INFO): direction in FSK: [-0.777028,-0.629225,-0.017452]
2025-09-04T18:22:53.538Z,1757010173.538 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:53.539Z,1757010173.539 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:53.550Z,1757010173.550 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:53.550Z,1757010173.550 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:53.710Z,1757010173.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 459.799988 m,
      deltaT: 16.401111 s,
      deltaX: 5.899994 m,
      approachRate: 0.359731 m/s,
      rangeRepo size: 3

2025-09-04T18:22:53.716Z,1757010173.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 458.028931 m,
      bearing: 160.307680 deg,
      lat: 36.779365 deg,
      lon: -121.859321 deg,
      deltaT: 16.401111 s,
      deltaX: 5.880402 m,
      approachRate: 0.358537 m/s,
      posRepo size: 3

2025-09-04T18:22:53.717Z,1757010173.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:53.728Z,1757010173.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 451.499146 m,
      bearing: 167.652745 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066102 deg/s,
      cmd heading: 171.663267 deg,
      new cmd heading: 171.595905 deg.

2025-09-04T18:22:53.729Z,1757010173.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.994914 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:54.069Z,1757010174.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:54.079Z,1757010174.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 451.639221 m,
      bearing: 167.625375 deg,
      approach rate: 0.389099 m/s,
      LOS rate: -0.076006 deg/s,
      cmd heading: 171.595908 deg,
      new cmd heading: 171.541184 deg.

2025-09-04T18:22:54.121Z,1757010174.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.993958 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:54.453Z,1757010174.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:54.456Z,1757010174.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 451.777008 m,
      bearing: 167.597375 deg,
      approach rate: 0.359067 m/s,
      LOS rate: -0.072944 deg/s,
      cmd heading: 171.541185 deg,
      new cmd heading: 171.485202 deg.

2025-09-04T18:22:54.457Z,1757010174.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992981 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:54.854Z,1757010174.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:54.857Z,1757010174.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:54.859Z,1757010174.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 451.913544 m,
      bearing: 167.568517 deg,
      approach rate: 0.338239 m/s,
      LOS rate: -0.071468 deg/s,
      cmd heading: 171.485204 deg,
      new cmd heading: 171.427506 deg.

2025-09-04T18:22:54.861Z,1757010174.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.991974 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:54.981Z,1757010174.981 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:54.981Z,1757010174.981 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:54.981Z,1757010174.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:55.233Z,1757010175.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695966
2025-09-04T18:22:55.257Z,1757010175.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:55.261Z,1757010175.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.045654 m,
      bearing: 167.539463 deg,
      approach rate: 0.329797 m/s,
      LOS rate: -0.072509 deg/s,
      cmd heading: 171.427503 deg,
      new cmd heading: 171.369411 deg.

2025-09-04T18:22:55.261Z,1757010175.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.990960 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:55.487Z,1757010175.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950165
2025-09-04T18:22:55.679Z,1757010175.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:55.682Z,1757010175.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.178711 m,
      bearing: 167.511155 deg,
      approach rate: 0.315232 m/s,
      LOS rate: -0.067045 deg/s,
      cmd heading: 171.369405 deg,
      new cmd heading: 171.312807 deg.

2025-09-04T18:22:55.683Z,1757010175.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989973 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:55.737Z,1757010175.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200228
2025-09-04T18:22:55.989Z,1757010175.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452159
2025-09-04T18:22:56.074Z,1757010176.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:56.077Z,1757010176.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.303253 m,
      bearing: 167.484703 deg,
      approach rate: 0.315819 m/s,
      LOS rate: -0.067060 deg/s,
      cmd heading: 171.312810 deg,
      new cmd heading: 171.259920 deg.

2025-09-04T18:22:56.078Z,1757010176.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989049 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:56.241Z,1757010176.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704145
2025-09-04T18:22:56.481Z,1757010176.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:56.486Z,1757010176.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.430328 m,
      bearing: 167.457743 deg,
      approach rate: 0.312078 m/s,
      LOS rate: -0.066191 deg/s,
      cmd heading: 171.259917 deg,
      new cmd heading: 171.206013 deg.

2025-09-04T18:22:56.487Z,1757010176.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.988109 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:56.505Z,1757010176.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968560
2025-09-04T18:22:56.757Z,1757010176.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220183
2025-09-04T18:22:56.887Z,1757010176.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:56.890Z,1757010176.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:56.895Z,1757010176.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.548492 m,
      bearing: 167.429330 deg,
      approach rate: 0.289158 m/s,
      LOS rate: -0.069512 deg/s,
      cmd heading: 171.206014 deg,
      new cmd heading: 171.149202 deg.

2025-09-04T18:22:56.897Z,1757010176.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.987117 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:57.009Z,1757010177.009 [DAT](INFO): DAT read: Rx Time:18:22:55.7516

2025-09-04T18:22:57.010Z,1757010177.010 [DAT](INFO): Rx dataTimestamp_ set to:1757010177.009347
2025-09-04T18:22:57.010Z,1757010177.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473316
2025-09-04T18:22:57.261Z,1757010177.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724281
2025-09-04T18:22:57.296Z,1757010177.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:57.300Z,1757010177.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.655762 m,
      bearing: 167.402430 deg,
      approach rate: 0.277687 m/s,
      LOS rate: -0.069619 deg/s,
      cmd heading: 171.149200 deg,
      new cmd heading: 171.095413 deg.

2025-09-04T18:22:57.301Z,1757010177.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.986178 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:57.516Z,1757010177.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.978852
2025-09-04T18:22:57.702Z,1757010177.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 458.03 m.
2025-09-04T18:22:57.721Z,1757010177.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 458.028931 m,
      nav range: 452.780060 m,
      bearing: 167.372478 deg,
      approach rate: 0.291660 m/s,
      LOS rate: -0.070261 deg/s,
      cmd heading: 171.095419 deg,
      new cmd heading: 171.035532 deg.

2025-09-04T18:22:57.722Z,1757010177.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.985133 target range: 458.028931 and range: 459.80 m.
2025-09-04T18:22:57.771Z,1757010177.771 [DAT](INFO): DAT read: 18:22:55.7516 LVL= 28736, 23649, 26578, 30995, AGC= 68, IDX= 441,-0.13, 0.730, 2.759, 2.798, 2.301, PHS=-1.469, 0.502, 0.453, RAW= 271.3,   5.3, CAL= 268.8,  -0.1, ROT= 241.2,   0.1

2025-09-04T18:22:57.773Z,1757010177.773 [DAT](INFO): got valid direction response:
 18:22:55.7516 LVL= 28736, 23649, 26578, 30995, AGC= 68, IDX= 441,-0.13, 0.730, 2.759, 2.798, 2.301, PHS=-1.469, 0.502, 0.453, RAW= 271.3,   5.3, CAL= 268.8,  -0.1, ROT= 241.2,   0.1

2025-09-04T18:22:57.774Z,1757010177.774 [DAT](INFO): DAT read: Bearing 288.1, -62.7 (Local)

2025-09-04T18:22:57.774Z,1757010177.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.1, -62.7 (Local)

2025-09-04T18:22:57.775Z,1757010177.775 [DAT](INFO): DAT read: Range 11 to 50 : 461.4 m  (Round-trip  615.3 ms) speed -0.3 m/s

2025-09-04T18:22:57.776Z,1757010177.776 [DAT](INFO): DAT read: user:2708>

2025-09-04T18:22:57.777Z,1757010177.777 [DAT](INFO): DAT read: Tx time:18:22:56.8822

2025-09-04T18:22:57.777Z,1757010177.777 [DAT](INFO): Ping request sent.
2025-09-04T18:22:57.777Z,1757010177.777 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:22:57.792Z,1757010177.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:22:57.793Z,1757010177.793 [DAT](INFO): direction in FSK: [-0.481753,-0.876305,-0.001745]
2025-09-04T18:22:57.793Z,1757010177.793 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:57.794Z,1757010177.794 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:57.797Z,1757010177.797 [DAT](INFO): publishing transmit ping time
2025-09-04T18:22:57.797Z,1757010177.797 [DAT](INFO): publishing direction and range info
2025-09-04T18:22:58.102Z,1757010178.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 461.399994 m,
      deltaT: 4.295476 s,
      deltaX: 1.600006 m,
      approachRate: 0.372486 m/s,
      rangeRepo size: 4

2025-09-04T18:22:58.124Z,1757010178.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.634369 m,
      bearing: 169.823447 deg,
      lat: 36.779275 deg,
      lon: -121.859524 deg,
      deltaT: 4.295476 s,
      deltaX: 1.605438 m,
      approachRate: 0.373751 m/s,
      posRepo size: 4

2025-09-04T18:22:58.125Z,1757010178.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:22:58.127Z,1757010178.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.049835 m,
      bearing: 169.822911 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070261 deg/s,
      cmd heading: 171.035532 deg,
      new cmd heading: 170.979436 deg.

2025-09-04T18:22:58.133Z,1757010178.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984154 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:22:58.555Z,1757010178.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:22:58.562Z,1757010178.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.154358 m,
      bearing: 169.792482 deg,
      approach rate: 0.230394 m/s,
      LOS rate: -0.067056 deg/s,
      cmd heading: 170.979442 deg,
      new cmd heading: 170.918600 deg.

2025-09-04T18:22:58.563Z,1757010178.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.983092 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:22:58.922Z,1757010178.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:22:58.928Z,1757010178.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:22:58.931Z,1757010178.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.243134 m,
      bearing: 169.765348 deg,
      approach rate: 0.240567 m/s,
      LOS rate: -0.073514 deg/s,
      cmd heading: 170.918599 deg,
      new cmd heading: 170.864342 deg.

2025-09-04T18:22:58.940Z,1757010178.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.982145 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:22:59.026Z,1757010179.026 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:22:59.026Z,1757010179.026 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:22:59.026Z,1757010179.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:22:59.277Z,1757010179.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499676
2025-09-04T18:22:59.337Z,1757010179.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:22:59.344Z,1757010179.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.342499 m,
      bearing: 169.733391 deg,
      approach rate: 0.240561 m/s,
      LOS rate: -0.077351 deg/s,
      cmd heading: 170.864340 deg,
      new cmd heading: 170.800440 deg.

2025-09-04T18:22:59.345Z,1757010179.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.981030 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:22:59.529Z,1757010179.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751720
2025-09-04T18:22:59.751Z,1757010179.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:22:59.766Z,1757010179.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.420685 m,
      bearing: 169.703664 deg,
      approach rate: 0.188742 m/s,
      LOS rate: -0.071751 deg/s,
      cmd heading: 170.800437 deg,
      new cmd heading: 170.740992 deg.

2025-09-04T18:22:59.767Z,1757010179.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.979992 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:22:59.781Z,1757010179.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003806
2025-09-04T18:23:00.035Z,1757010180.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257192
2025-09-04T18:23:00.121Z,1757010180.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:23:00.124Z,1757010180.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.492615 m,
      bearing: 169.674677 deg,
      approach rate: 0.194361 m/s,
      LOS rate: -0.078313 deg/s,
      cmd heading: 170.740987 deg,
      new cmd heading: 170.683022 deg.

2025-09-04T18:23:00.125Z,1757010180.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.978981 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:23:00.285Z,1757010180.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507641
2025-09-04T18:23:00.520Z,1757010180.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:23:00.522Z,1757010180.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.563049 m,
      bearing: 169.644402 deg,
      approach rate: 0.176880 m/s,
      LOS rate: -0.076016 deg/s,
      cmd heading: 170.683026 deg,
      new cmd heading: 170.622486 deg.

2025-09-04T18:23:00.523Z,1757010180.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.977924 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:23:00.537Z,1757010180.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759642
2025-09-04T18:23:00.789Z,1757010180.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012059
2025-09-04T18:23:00.929Z,1757010180.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:00.931Z,1757010180.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:23:00.934Z,1757010180.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.630646 m,
      bearing: 169.613247 deg,
      approach rate: 0.164281 m/s,
      LOS rate: -0.075704 deg/s,
      cmd heading: 170.622483 deg,
      new cmd heading: 170.560183 deg.

2025-09-04T18:23:00.935Z,1757010180.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.976837 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:23:01.041Z,1757010181.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263842
2025-09-04T18:23:01.293Z,1757010181.293 [DAT](INFO): DAT read: Rx Time:18:22:59.8937

2025-09-04T18:23:01.294Z,1757010181.294 [DAT](INFO): Rx dataTimestamp_ set to:1757010181.293293
2025-09-04T18:23:01.294Z,1757010181.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516722
2025-09-04T18:23:01.366Z,1757010181.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:23:01.368Z,1757010181.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.700165 m,
      bearing: 169.581295 deg,
      approach rate: 0.159995 m/s,
      LOS rate: -0.073527 deg/s,
      cmd heading: 170.560178 deg,
      new cmd heading: 170.496282 deg.

2025-09-04T18:23:01.369Z,1757010181.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.975722 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:23:01.545Z,1757010181.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767852
2025-09-04T18:23:01.789Z,1757010181.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.63 m.
2025-09-04T18:23:01.791Z,1757010181.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.634369 m,
      nav range: 459.768555 m,
      bearing: 169.547244 deg,
      approach rate: 0.161642 m/s,
      LOS rate: -0.080468 deg/s,
      cmd heading: 170.496289 deg,
      new cmd heading: 170.428198 deg.

2025-09-04T18:23:01.792Z,1757010181.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.974533 target range: 459.634369 and range: 461.40 m.
2025-09-04T18:23:01.819Z,1757010181.819 [DAT](INFO): DAT read: 18:22:59.8937 LVL= 32752, 24369, 21666, 32755, AGC= 67, IDX= 437,-0.20,-1.267, 0.440, 0.740,-0.240, PHS=-0.925, 0.725, 0.936, RAW= 264.1,  -8.4, CAL= 263.0, -13.9, ROT= 247.0,  13.9

2025-09-04T18:23:01.820Z,1757010181.820 [DAT](INFO): got valid direction response:
 18:22:59.8937 LVL= 32752, 24369, 21666, 32755, AGC= 67, IDX= 437,-0.20,-1.267, 0.440, 0.740,-0.240, PHS=-0.925, 0.725, 0.936, RAW= 264.1,  -8.4, CAL= 263.0, -13.9, ROT= 247.0,  13.9

2025-09-04T18:23:01.821Z,1757010181.821 [DAT](INFO): DAT read: Bearing 310.9, -62.5 (Local)

2025-09-04T18:23:01.821Z,1757010181.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9, -62.5 (Local)

2025-09-04T18:23:01.823Z,1757010181.823 [DAT](INFO): DAT read: Range 11 to 50 : 455.5 m  (Round-trip  607.4 ms) speed -0.1 m/s

2025-09-04T18:23:01.824Z,1757010181.824 [DAT](INFO): DAT read: user:2709>

2025-09-04T18:23:01.824Z,1757010181.824 [DAT](INFO): DAT read: Tx time:18:23:01.0322

2025-09-04T18:23:01.825Z,1757010181.825 [DAT](INFO): Ping request sent.
2025-09-04T18:23:01.825Z,1757010181.825 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:01.825Z,1757010181.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:01.826Z,1757010181.826 [DAT](INFO): direction in FSK: [-0.379289,-0.893549,-0.240228]
2025-09-04T18:23:01.826Z,1757010181.826 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:01.827Z,1757010181.827 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:01.830Z,1757010181.830 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:01.830Z,1757010181.830 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:02.223Z,1757010182.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.500000 m,
      deltaT: 4.047537 s,
      deltaX: -5.899994 m,
      approachRate: -1.457675 m/s,
      rangeRepo size: 4

2025-09-04T18:23:02.226Z,1757010182.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 453.744598 m,
      bearing: 166.237679 deg,
      lat: 36.779275 deg,
      lon: -121.859524 deg,
      deltaT: 4.047537 s,
      deltaX: -5.889771 m,
      approachRate: -1.455149 m/s,
      posRepo size: 4

2025-09-04T18:23:02.226Z,1757010182.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:02.229Z,1757010182.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 459.820801 m,
      bearing: 169.513347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.080468 deg/s,
      cmd heading: 170.428192 deg,
      new cmd heading: 170.358370 deg.

2025-09-04T18:23:02.230Z,1757010182.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.973315 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:02.615Z,1757010182.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:02.618Z,1757010182.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 459.864563 m,
      bearing: 169.481922 deg,
      approach rate: 0.111617 m/s,
      LOS rate: -0.080142 deg/s,
      cmd heading: 170.358373 deg,
      new cmd heading: 170.295530 deg.

2025-09-04T18:23:02.619Z,1757010182.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.972218 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:03.013Z,1757010183.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:03.015Z,1757010183.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:03.019Z,1757010183.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 459.903992 m,
      bearing: 169.450063 deg,
      approach rate: 0.098351 m/s,
      LOS rate: -0.079462 deg/s,
      cmd heading: 170.295536 deg,
      new cmd heading: 170.231824 deg.

2025-09-04T18:23:03.020Z,1757010183.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.971106 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:03.074Z,1757010183.074 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:03.074Z,1757010183.074 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:03.075Z,1757010183.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:03.333Z,1757010183.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508178
2025-09-04T18:23:03.528Z,1757010183.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:03.539Z,1757010183.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 459.954895 m,
      bearing: 169.407976 deg,
      approach rate: 0.102574 m/s,
      LOS rate: -0.084801 deg/s,
      cmd heading: 170.231824 deg,
      new cmd heading: 170.147657 deg.

2025-09-04T18:23:03.540Z,1757010183.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.969637 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:03.577Z,1757010183.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752175
2025-09-04T18:23:03.829Z,1757010183.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004151
2025-09-04T18:23:03.924Z,1757010183.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:03.927Z,1757010183.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 459.990112 m,
      bearing: 169.374760 deg,
      approach rate: 0.085488 m/s,
      LOS rate: -0.080622 deg/s,
      cmd heading: 170.147662 deg,
      new cmd heading: 170.081237 deg.

2025-09-04T18:23:03.933Z,1757010183.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.968477 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:04.081Z,1757010184.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256502
2025-09-04T18:23:04.291Z,1757010184.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:04.294Z,1757010184.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 460.020630 m,
      bearing: 169.341336 deg,
      approach rate: 0.083013 m/s,
      LOS rate: -0.090912 deg/s,
      cmd heading: 170.081232 deg,
      new cmd heading: 170.014388 deg.

2025-09-04T18:23:04.295Z,1757010184.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.967311 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:04.334Z,1757010184.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509223
2025-09-04T18:23:04.585Z,1757010184.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760579
2025-09-04T18:23:04.700Z,1757010184.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:04.703Z,1757010184.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 460.047455 m,
      bearing: 169.306393 deg,
      approach rate: 0.065707 m/s,
      LOS rate: -0.085587 deg/s,
      cmd heading: 170.014391 deg,
      new cmd heading: 169.944509 deg.

2025-09-04T18:23:04.704Z,1757010184.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.966091 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:04.837Z,1757010184.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012157
2025-09-04T18:23:05.089Z,1757010185.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264029
2025-09-04T18:23:05.121Z,1757010185.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:05.123Z,1757010185.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:05.126Z,1757010185.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 460.075470 m,
      bearing: 169.270166 deg,
      approach rate: 0.066193 m/s,
      LOS rate: -0.085590 deg/s,
      cmd heading: 169.944505 deg,
      new cmd heading: 169.872055 deg.

2025-09-04T18:23:05.127Z,1757010185.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.964827 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:05.342Z,1757010185.342 [DAT](INFO): DAT read: Rx Time:18:23:04.0538

2025-09-04T18:23:05.342Z,1757010185.342 [DAT](INFO): Rx dataTimestamp_ set to:1757010185.341974
2025-09-04T18:23:05.343Z,1757010185.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518286
2025-09-04T18:23:05.553Z,1757010185.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.74 m.
2025-09-04T18:23:05.556Z,1757010185.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.744598 m,
      nav range: 460.112457 m,
      bearing: 169.233861 deg,
      approach rate: 0.085969 m/s,
      LOS rate: -0.084378 deg/s,
      cmd heading: 169.872050 deg,
      new cmd heading: 169.799445 deg.

2025-09-04T18:23:05.561Z,1757010185.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.963559 target range: 453.744598 and range: 455.50 m.
2025-09-04T18:23:05.593Z,1757010185.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768369
2025-09-04T18:23:05.867Z,1757010185.867 [DAT](INFO): DAT read: 18:23:04.0538 LVL= 19232, 16529, 18098, 18467, AGC= 74, IDX=  15,-0.25, 0.915, 2.237, 2.826, 1.857, PHS=-0.841, 0.424, 0.925, RAW= 254.0,  -6.5, CAL= 252.0, -11.1, ROT= 258.0,  11.1

2025-09-04T18:23:05.869Z,1757010185.869 [DAT](INFO): got valid direction response:
 18:23:04.0538 LVL= 19232, 16529, 18098, 18467, AGC= 74, IDX=  15,-0.25, 0.915, 2.237, 2.826, 1.857, PHS=-0.841, 0.424, 0.925, RAW= 254.0,  -6.5, CAL= 252.0, -11.1, ROT= 258.0,  11.1

2025-09-04T18:23:05.871Z,1757010185.871 [DAT](INFO): DAT read: Bearing 317.2, -71.9 (Local)

2025-09-04T18:23:05.871Z,1757010185.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.2, -71.9 (Local)

2025-09-04T18:23:05.882Z,1757010185.882 [DAT](INFO): DAT read: Range 11 to 50 : 463.0 m  (Round-trip  617.4 ms) speed -0.3 m/s

2025-09-04T18:23:05.884Z,1757010185.884 [DAT](INFO): DAT read: user:2710>

2025-09-04T18:23:05.889Z,1757010185.889 [DAT](INFO): DAT read: Tx time:18:23:05.1822

2025-09-04T18:23:05.889Z,1757010185.889 [DAT](INFO): Ping request sent.
2025-09-04T18:23:05.889Z,1757010185.889 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:05.890Z,1757010185.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:05.931Z,1757010185.931 [DAT](INFO): direction in FSK: [-0.204022,-0.959849,-0.192522]
2025-09-04T18:23:05.944Z,1757010185.944 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:05.944Z,1757010185.944 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:05.947Z,1757010185.947 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:05.948Z,1757010185.948 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:06.069Z,1757010186.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 463.000000 m,
      deltaT: 4.033924 s,
      deltaX: 7.500000 m,
      approachRate: 1.859232 m/s,
      rangeRepo size: 4

2025-09-04T18:23:06.071Z,1757010186.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 461.217560 m,
      bearing: 166.142732 deg,
      lat: 36.779346 deg,
      lon: -121.859273 deg,
      deltaT: 4.033924 s,
      deltaX: 7.472961 m,
      approachRate: 1.852529 m/s,
      posRepo size: 4

2025-09-04T18:23:06.071Z,1757010186.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:06.078Z,1757010186.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.271088 m,
      bearing: 166.249486 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084378 deg/s,
      cmd heading: 169.799445 deg,
      new cmd heading: 169.713244 deg.

2025-09-04T18:23:06.079Z,1757010186.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.962055 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:06.418Z,1757010186.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:06.421Z,1757010186.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.301422 m,
      bearing: 166.218519 deg,
      approach rate: 0.085550 m/s,
      LOS rate: -0.087326 deg/s,
      cmd heading: 169.713248 deg,
      new cmd heading: 169.651320 deg.

2025-09-04T18:23:06.422Z,1757010186.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.960974 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:06.759Z,1757010186.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:06.763Z,1757010186.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.329254 m,
      bearing: 166.184916 deg,
      approach rate: 0.081597 m/s,
      LOS rate: -0.098512 deg/s,
      cmd heading: 169.651326 deg,
      new cmd heading: 169.584123 deg.

2025-09-04T18:23:06.781Z,1757010186.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.959801 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:07.175Z,1757010187.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:07.178Z,1757010187.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:07.181Z,1757010187.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.354523 m,
      bearing: 166.147590 deg,
      approach rate: 0.060438 m/s,
      LOS rate: -0.089272 deg/s,
      cmd heading: 169.584117 deg,
      new cmd heading: 169.509469 deg.

2025-09-04T18:23:07.182Z,1757010187.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.958498 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:07.365Z,1757010187.365 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:07.365Z,1757010187.365 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:07.365Z,1757010187.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:07.602Z,1757010187.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:07.605Z,1757010187.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.389771 m,
      bearing: 166.109940 deg,
      approach rate: 0.083042 m/s,
      LOS rate: -0.088694 deg/s,
      cmd heading: 169.509463 deg,
      new cmd heading: 169.434169 deg.

2025-09-04T18:23:07.606Z,1757010187.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.957184 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:07.617Z,1757010187.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727573
2025-09-04T18:23:07.871Z,1757010187.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980795
2025-09-04T18:23:07.972Z,1757010187.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:07.975Z,1757010187.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.415710 m,
      bearing: 166.077092 deg,
      approach rate: 0.070192 m/s,
      LOS rate: -0.088880 deg/s,
      cmd heading: 169.434167 deg,
      new cmd heading: 169.368474 deg.

2025-09-04T18:23:07.976Z,1757010187.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956038 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:08.121Z,1757010188.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231471
2025-09-04T18:23:08.373Z,1757010188.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483821
2025-09-04T18:23:08.417Z,1757010188.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:08.442Z,1757010188.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.447144 m,
      bearing: 166.037545 deg,
      approach rate: 0.070528 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 169.368474 deg,
      new cmd heading: 169.289386 deg.

2025-09-04T18:23:08.443Z,1757010188.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.954657 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:08.626Z,1757010188.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736950
2025-09-04T18:23:08.776Z,1757010188.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:08.779Z,1757010188.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.463074 m,
      bearing: 166.005654 deg,
      approach rate: 0.044444 m/s,
      LOS rate: -0.088971 deg/s,
      cmd heading: 169.289380 deg,
      new cmd heading: 169.225601 deg.

2025-09-04T18:23:08.779Z,1757010188.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.953544 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:08.879Z,1757010188.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989025
2025-09-04T18:23:08.917Z,1757010188.917 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:23:09.129Z,1757010189.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239482
2025-09-04T18:23:09.199Z,1757010189.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:09.201Z,1757010189.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:09.209Z,1757010189.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.476349 m,
      bearing: 165.967846 deg,
      approach rate: 0.031187 m/s,
      LOS rate: -0.088821 deg/s,
      cmd heading: 169.225600 deg,
      new cmd heading: 169.149985 deg.

2025-09-04T18:23:09.210Z,1757010189.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.952224 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:09.383Z,1757010189.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493382
2025-09-04T18:23:09.622Z,1757010189.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:09.625Z,1757010189.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.485657 m,
      bearing: 165.932648 deg,
      approach rate: 0.022125 m/s,
      LOS rate: -0.083662 deg/s,
      cmd heading: 169.149990 deg,
      new cmd heading: 169.079596 deg.

2025-09-04T18:23:09.626Z,1757010189.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.950996 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:09.633Z,1757010189.633 [DAT](INFO): DAT read: Rx Time:18:23:08.2043

2025-09-04T18:23:09.634Z,1757010189.634 [DAT](INFO): Rx dataTimestamp_ set to:1757010189.633362
2025-09-04T18:23:09.634Z,1757010189.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744679
2025-09-04T18:23:09.893Z,1757010189.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003523
2025-09-04T18:23:09.920Z,1757010189.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:23:10.040Z,1757010190.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.22 m.
2025-09-04T18:23:10.043Z,1757010190.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.217560 m,
      nav range: 457.489807 m,
      bearing: 165.897723 deg,
      approach rate: 0.009937 m/s,
      LOS rate: -0.083620 deg/s,
      cmd heading: 169.079598 deg,
      new cmd heading: 169.009748 deg.

2025-09-04T18:23:10.043Z,1757010190.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.949777 target range: 461.217560 and range: 463.00 m.
2025-09-04T18:23:10.151Z,1757010190.151 [DAT](INFO): DAT read: 18:23:08.2043 LVL= 30320, 29105, 24226, 32755, AGC= 73, IDX= 438,-0.15, 1.106, 1.971, 2.898, 1.945, PHS=-0.737, 0.072, 0.910, RAW= 239.4,  -3.5, CAL= 236.5,  -5.2, ROT= 273.5,   5.2

2025-09-04T18:23:10.152Z,1757010190.152 [DAT](INFO): got valid direction response:
 18:23:08.2043 LVL= 30320, 29105, 24226, 32755, AGC= 73, IDX= 438,-0.15, 1.106, 1.971, 2.898, 1.945, PHS=-0.737, 0.072, 0.910, RAW= 239.4,  -3.5, CAL= 236.5,  -5.2, ROT= 273.5,   5.2

2025-09-04T18:23:10.153Z,1757010190.153 [DAT](INFO): DAT read: Bearing   9.7, -77.5 (Local)

2025-09-04T18:23:10.154Z,1757010190.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7, -77.5 (Local)

2025-09-04T18:23:10.155Z,1757010190.155 [DAT](INFO): DAT read: Range 11 to 50 : 463.5 m  (Round-trip  618.1 ms) speed  0.0 m/s

2025-09-04T18:23:10.160Z,1757010190.160 [DAT](INFO): DAT read: user:2711>

2025-09-04T18:23:10.161Z,1757010190.161 [DAT](INFO): DAT read: Tx time:18:23:09.3321

2025-09-04T18:23:10.161Z,1757010190.161 [DAT](INFO): Ping request sent.
2025-09-04T18:23:10.161Z,1757010190.161 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:10.162Z,1757010190.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:10.163Z,1757010190.163 [DAT](INFO): direction in FSK: [0.060797,-0.994027,-0.090633]
2025-09-04T18:23:10.163Z,1757010190.163 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:10.163Z,1757010190.163 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:10.166Z,1757010190.166 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:10.167Z,1757010190.167 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:10.440Z,1757010190.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 463.500000 m,
      deltaT: 4.298471 s,
      deltaX: 0.500000 m,
      approachRate: 0.116320 m/s,
      rangeRepo size: 4

2025-09-04T18:23:10.443Z,1757010190.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 461.694946 m,
      bearing: 169.201904 deg,
      lat: 36.779346 deg,
      lon: -121.859273 deg,
      deltaT: 4.298471 s,
      deltaX: 0.477386 m,
      approachRate: 0.111060 m/s,
      posRepo size: 4

2025-09-04T18:23:10.444Z,1757010190.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:10.450Z,1757010190.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.489075 m,
      bearing: 165.866066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.083620 deg/s,
      cmd heading: 169.009753 deg,
      new cmd heading: 168.943582 deg.

2025-09-04T18:23:10.451Z,1757010190.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.948622 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:10.830Z,1757010190.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:10.833Z,1757010190.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.483429 m,
      bearing: 165.831729 deg,
      approach rate: -0.014290 m/s,
      LOS rate: -0.086910 deg/s,
      cmd heading: 168.943582 deg,
      new cmd heading: 168.874907 deg.

2025-09-04T18:23:10.834Z,1757010190.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.947423 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:11.251Z,1757010191.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:11.258Z,1757010191.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:11.281Z,1757010191.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.472656 m,
      bearing: 165.797124 deg,
      approach rate: -0.025225 m/s,
      LOS rate: -0.081031 deg/s,
      cmd heading: 168.874911 deg,
      new cmd heading: 168.805699 deg.

2025-09-04T18:23:11.281Z,1757010191.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946215 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:11.407Z,1757010191.407 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:11.407Z,1757010191.407 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:11.408Z,1757010191.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:11.654Z,1757010191.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:11.657Z,1757010191.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495670
2025-09-04T18:23:11.659Z,1757010191.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.438446 m,
      bearing: 165.764638 deg,
      approach rate: -0.086389 m/s,
      LOS rate: -0.082040 deg/s,
      cmd heading: 168.805694 deg,
      new cmd heading: 168.740718 deg.

2025-09-04T18:23:11.660Z,1757010191.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945081 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:11.913Z,1757010191.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751072
2025-09-04T18:23:12.034Z,1757010192.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:12.038Z,1757010192.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.402344 m,
      bearing: 165.734267 deg,
      approach rate: -0.094790 m/s,
      LOS rate: -0.079747 deg/s,
      cmd heading: 168.740711 deg,
      new cmd heading: 168.679965 deg.

2025-09-04T18:23:12.039Z,1757010192.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.944021 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:12.161Z,1757010192.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999555
2025-09-04T18:23:12.413Z,1757010192.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251778
2025-09-04T18:23:12.462Z,1757010192.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:12.465Z,1757010192.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.362183 m,
      bearing: 165.700359 deg,
      approach rate: -0.093960 m/s,
      LOS rate: -0.079338 deg/s,
      cmd heading: 168.679964 deg,
      new cmd heading: 168.612141 deg.

2025-09-04T18:23:12.466Z,1757010192.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.942837 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:12.665Z,1757010192.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503583
2025-09-04T18:23:12.888Z,1757010192.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:12.891Z,1757010192.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.325043 m,
      bearing: 165.668872 deg,
      approach rate: -0.087142 m/s,
      LOS rate: -0.073883 deg/s,
      cmd heading: 168.612140 deg,
      new cmd heading: 168.549162 deg.

2025-09-04T18:23:12.892Z,1757010192.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.941738 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:12.917Z,1757010192.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755499
2025-09-04T18:23:13.169Z,1757010193.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007586
2025-09-04T18:23:13.257Z,1757010193.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:13.259Z,1757010193.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:13.262Z,1757010193.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.274109 m,
      bearing: 165.637370 deg,
      approach rate: -0.137380 m/s,
      LOS rate: -0.084978 deg/s,
      cmd heading: 168.549166 deg,
      new cmd heading: 168.486154 deg.

2025-09-04T18:23:13.263Z,1757010193.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940638 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:13.426Z,1757010193.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261893
2025-09-04T18:23:13.673Z,1757010193.673 [DAT](INFO): DAT read: Rx Time:18:23:12.3449

2025-09-04T18:23:13.674Z,1757010193.674 [DAT](INFO): Rx dataTimestamp_ set to:1757010193.673274
2025-09-04T18:23:13.674Z,1757010193.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512647
2025-09-04T18:23:13.680Z,1757010193.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:13.683Z,1757010193.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.226288 m,
      bearing: 165.603874 deg,
      approach rate: -0.113551 m/s,
      LOS rate: -0.079544 deg/s,
      cmd heading: 168.486150 deg,
      new cmd heading: 168.419152 deg.

2025-09-04T18:23:13.684Z,1757010193.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.939469 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:13.925Z,1757010193.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763588
2025-09-04T18:23:14.058Z,1757010194.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.69 m.
2025-09-04T18:23:14.061Z,1757010194.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.694946 m,
      nav range: 457.178772 m,
      bearing: 165.573712 deg,
      approach rate: -0.125655 m/s,
      LOS rate: -0.079772 deg/s,
      cmd heading: 168.419146 deg,
      new cmd heading: 168.358815 deg.

2025-09-04T18:23:14.062Z,1757010194.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.938416 target range: 461.694946 and range: 463.50 m.
2025-09-04T18:23:14.186Z,1757010194.186 [DAT](INFO): DAT read: 18:23:12.3449 LVL= 27552, 24625, 19122, 31123, AGC= 68, IDX= 341,-0.23, 1.262, 2.033,-2.751, 2.321, PHS=-0.958,-0.243, 1.167, RAW= 229.3,   0.4, CAL= 226.4,   0.8, ROT= 283.6,  -0.8

2025-09-04T18:23:14.187Z,1757010194.187 [DAT](INFO): got valid direction response:
 18:23:12.3449 LVL= 27552, 24625, 19122, 31123, AGC= 68, IDX= 341,-0.23, 1.262, 2.033,-2.751, 2.321, PHS=-0.958,-0.243, 1.167, RAW= 229.3,   0.4, CAL= 226.4,   0.8, ROT= 283.6,  -0.8

2025-09-04T18:23:14.189Z,1757010194.189 [DAT](INFO): DAT read: Bearing  40.2, -72.1 (Local)

2025-09-04T18:23:14.189Z,1757010194.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.2, -72.1 (Local)

2025-09-04T18:23:14.190Z,1757010194.190 [DAT](INFO): DAT read: Range 11 to 50 : 456.4 m  (Round-trip  608.6 ms) speed -0.2 m/s

2025-09-04T18:23:14.191Z,1757010194.191 [DAT](INFO): DAT read: user:2712>

2025-09-04T18:23:14.192Z,1757010194.192 [DAT](INFO): DAT read: Tx time:18:23:13.4821

2025-09-04T18:23:14.192Z,1757010194.192 [DAT](INFO): Ping request sent.
2025-09-04T18:23:14.192Z,1757010194.192 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:14.193Z,1757010194.193 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:14.194Z,1757010194.194 [DAT](INFO): direction in FSK: [0.235119,-0.971866,0.013962]
2025-09-04T18:23:14.194Z,1757010194.194 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:14.194Z,1757010194.194 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:14.198Z,1757010194.198 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:14.198Z,1757010194.198 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:14.462Z,1757010194.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 456.399994 m,
      deltaT: 4.033019 s,
      deltaX: -7.100006 m,
      approachRate: -1.760469 m/s,
      rangeRepo size: 4

2025-09-04T18:23:14.465Z,1757010194.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 454.656891 m,
      bearing: 168.595884 deg,
      lat: 36.779344 deg,
      lon: -121.859524 deg,
      deltaT: 4.033019 s,
      deltaX: -7.038055 m,
      approachRate: -1.745108 m/s,
      posRepo size: 4

2025-09-04T18:23:14.466Z,1757010194.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:14.471Z,1757010194.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 452.290436 m,
      bearing: 168.296063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079772 deg/s,
      cmd heading: 168.358808 deg,
      new cmd heading: 168.294430 deg.

2025-09-04T18:23:14.472Z,1757010194.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.937292 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:14.911Z,1757010194.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:14.935Z,1757010194.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 452.210815 m,
      bearing: 168.260858 deg,
      approach rate: -0.177281 m/s,
      LOS rate: -0.078400 deg/s,
      cmd heading: 168.294427 deg,
      new cmd heading: 168.224005 deg.

2025-09-04T18:23:14.941Z,1757010194.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.936063 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:15.310Z,1757010195.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:15.321Z,1757010195.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:15.323Z,1757010195.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 452.138519 m,
      bearing: 168.230956 deg,
      approach rate: -0.176351 m/s,
      LOS rate: -0.072952 deg/s,
      cmd heading: 168.224008 deg,
      new cmd heading: 168.164193 deg.

2025-09-04T18:23:15.333Z,1757010195.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.935019 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:15.439Z,1757010195.439 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:15.439Z,1757010195.439 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:15.440Z,1757010195.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:15.689Z,1757010195.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496612
2025-09-04T18:23:15.727Z,1757010195.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:15.730Z,1757010195.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 452.059082 m,
      bearing: 168.194224 deg,
      approach rate: -0.195563 m/s,
      LOS rate: -0.090444 deg/s,
      cmd heading: 168.164189 deg,
      new cmd heading: 168.090713 deg.

2025-09-04T18:23:15.731Z,1757010195.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.933736 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:15.947Z,1757010195.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754848
2025-09-04T18:23:16.097Z,1757010196.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:16.100Z,1757010196.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 451.988251 m,
      bearing: 168.163601 deg,
      approach rate: -0.191396 m/s,
      LOS rate: -0.082761 deg/s,
      cmd heading: 168.090710 deg,
      new cmd heading: 168.029454 deg.

2025-09-04T18:23:16.101Z,1757010196.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.932667 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:16.194Z,1757010196.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001506
2025-09-04T18:23:16.445Z,1757010196.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252513
2025-09-04T18:23:16.523Z,1757010196.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:16.526Z,1757010196.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 451.901611 m,
      bearing: 168.128611 deg,
      approach rate: -0.203349 m/s,
      LOS rate: -0.082139 deg/s,
      cmd heading: 168.029456 deg,
      new cmd heading: 167.959464 deg.

2025-09-04T18:23:16.527Z,1757010196.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.931446 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:16.697Z,1757010196.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504416
2025-09-04T18:23:16.906Z,1757010196.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:16.925Z,1757010196.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 451.819275 m,
      bearing: 168.097341 deg,
      approach rate: -0.214988 m/s,
      LOS rate: -0.081665 deg/s,
      cmd heading: 167.959461 deg,
      new cmd heading: 167.896908 deg.

2025-09-04T18:23:16.926Z,1757010196.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.930354 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:16.950Z,1757010196.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757312
2025-09-04T18:23:17.201Z,1757010197.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008487
2025-09-04T18:23:17.343Z,1757010197.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:17.349Z,1757010197.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:17.354Z,1757010197.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 451.726959 m,
      bearing: 168.062212 deg,
      approach rate: -0.208994 m/s,
      LOS rate: -0.079545 deg/s,
      cmd heading: 167.896910 deg,
      new cmd heading: 167.826638 deg.

2025-09-04T18:23:17.356Z,1757010197.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.929127 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:17.457Z,1757010197.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264248
2025-09-04T18:23:17.705Z,1757010197.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512557
2025-09-04T18:23:17.755Z,1757010197.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:17.758Z,1757010197.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 451.626709 m,
      bearing: 168.028429 deg,
      approach rate: -0.245993 m/s,
      LOS rate: -0.082914 deg/s,
      cmd heading: 167.826641 deg,
      new cmd heading: 167.759060 deg.

2025-09-04T18:23:17.759Z,1757010197.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.927948 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:17.957Z,1757010197.957 [DAT](INFO): DAT read: Rx Time:18:23:16.4939

2025-09-04T18:23:17.958Z,1757010197.958 [DAT](INFO): Rx dataTimestamp_ set to:1757010197.957536
2025-09-04T18:23:17.958Z,1757010197.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765819
2025-09-04T18:23:18.131Z,1757010198.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 454.66 m.
2025-09-04T18:23:18.134Z,1757010198.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 454.656891 m,
      nav range: 451.532288 m,
      bearing: 167.998368 deg,
      approach rate: -0.251296 m/s,
      LOS rate: -0.080024 deg/s,
      cmd heading: 167.759063 deg,
      new cmd heading: 167.698927 deg.

2025-09-04T18:23:18.135Z,1757010198.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926898 target range: 454.656891 and range: 456.40 m.
2025-09-04T18:23:18.209Z,1757010198.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016680
2025-09-04T18:23:18.467Z,1757010198.467 [DAT](INFO): DAT read: 18:23:16.4939 LVL= 22704, 24897, 17394, 24355, AGC= 70, IDX= 411, 0.05, 0.482, 0.749, 2.695, 1.279, PHS=-0.695,-0.486, 1.372, RAW= 215.3,  -2.0, CAL= 214.0,  -3.7, ROT= 296.0,   3.7

2025-09-04T18:23:18.469Z,1757010198.469 [DAT](INFO): got valid direction response:
 18:23:16.4939 LVL= 22704, 24897, 17394, 24355, AGC= 70, IDX= 411, 0.05, 0.482, 0.749, 2.695, 1.279, PHS=-0.695,-0.486, 1.372, RAW= 215.3,  -2.0, CAL= 214.0,  -3.7, ROT= 296.0,   3.7

2025-09-04T18:23:18.470Z,1757010198.470 [DAT](INFO): DAT read: Bearing  27.3, -58.7 (Local)

2025-09-04T18:23:18.471Z,1757010198.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.3, -58.7 (Local)

2025-09-04T18:23:18.473Z,1757010198.473 [DAT](INFO): DAT read: Range 11 to 50 : 455.7 m  (Round-trip  607.7 ms) speed  0.2 m/s

2025-09-04T18:23:18.474Z,1757010198.474 [DAT](INFO): DAT read: user:2713>

2025-09-04T18:23:18.475Z,1757010198.475 [DAT](INFO): DAT read: Tx time:18:23:17.5821

2025-09-04T18:23:18.476Z,1757010198.476 [DAT](INFO): Ping request sent.
2025-09-04T18:23:18.476Z,1757010198.476 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:18.476Z,1757010198.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:18.478Z,1757010198.478 [DAT](INFO): direction in FSK: [0.437457,-0.896921,-0.064532]
2025-09-04T18:23:18.478Z,1757010198.478 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:18.478Z,1757010198.478 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:18.483Z,1757010198.483 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:18.484Z,1757010198.484 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:18.631Z,1757010198.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 455.700012 m,
      deltaT: 4.282515 s,
      deltaX: -0.699982 m,
      approachRate: -0.163451 m/s,
      rangeRepo size: 4

2025-09-04T18:23:18.642Z,1757010198.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 453.954132 m,
      bearing: 171.344448 deg,
      lat: 36.779344 deg,
      lon: -121.859551 deg,
      deltaT: 4.282515 s,
      deltaX: -0.702759 m,
      approachRate: -0.164100 m/s,
      posRepo size: 4

2025-09-04T18:23:18.642Z,1757010198.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:18.653Z,1757010198.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.918732 m,
      bearing: 168.260456 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.080024 deg/s,
      cmd heading: 167.698930 deg,
      new cmd heading: 167.618982 deg.

2025-09-04T18:23:18.654Z,1757010198.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.925503 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:19.033Z,1757010199.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:19.041Z,1757010199.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.804230 m,
      bearing: 168.228084 deg,
      approach rate: -0.284145 m/s,
      LOS rate: -0.080354 deg/s,
      cmd heading: 167.618976 deg,
      new cmd heading: 167.554215 deg.

2025-09-04T18:23:19.042Z,1757010199.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924373 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:19.486Z,1757010199.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:19.498Z,1757010199.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:19.510Z,1757010199.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.685272 m,
      bearing: 168.196127 deg,
      approach rate: -0.256282 m/s,
      LOS rate: -0.068867 deg/s,
      cmd heading: 167.554212 deg,
      new cmd heading: 167.490280 deg.

2025-09-04T18:23:19.511Z,1757010199.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.923257 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:19.721Z,1757010199.721 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:19.721Z,1757010199.721 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:19.721Z,1757010199.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:19.968Z,1757010199.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:19.971Z,1757010199.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.541260 m,
      bearing: 168.150598 deg,
      approach rate: -0.311582 m/s,
      LOS rate: -0.098537 deg/s,
      cmd heading: 167.490281 deg,
      new cmd heading: 167.399194 deg.

2025-09-04T18:23:19.973Z,1757010199.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497120
2025-09-04T18:23:19.974Z,1757010199.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.921667 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:20.225Z,1757010200.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749080
2025-09-04T18:23:20.330Z,1757010200.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:20.346Z,1757010200.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.439667 m,
      bearing: 168.120210 deg,
      approach rate: -0.274378 m/s,
      LOS rate: -0.082087 deg/s,
      cmd heading: 167.399194 deg,
      new cmd heading: 167.338406 deg.

2025-09-04T18:23:20.351Z,1757010200.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.920606 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:20.478Z,1757010200.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001492
2025-09-04T18:23:20.729Z,1757010200.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253049
2025-09-04T18:23:20.731Z,1757010200.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:20.761Z,1757010200.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.326355 m,
      bearing: 168.086256 deg,
      approach rate: -0.282358 m/s,
      LOS rate: -0.084631 deg/s,
      cmd heading: 167.338405 deg,
      new cmd heading: 167.270480 deg.

2025-09-04T18:23:20.762Z,1757010200.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.919421 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:20.982Z,1757010200.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505648
2025-09-04T18:23:21.154Z,1757010201.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:21.157Z,1757010201.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.214020 m,
      bearing: 168.052539 deg,
      approach rate: -0.265880 m/s,
      LOS rate: -0.079824 deg/s,
      cmd heading: 167.270486 deg,
      new cmd heading: 167.203034 deg.

2025-09-04T18:23:21.158Z,1757010201.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918243 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:21.233Z,1757010201.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757053
2025-09-04T18:23:21.486Z,1757010201.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009702
2025-09-04T18:23:21.570Z,1757010201.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:21.572Z,1757010201.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:21.575Z,1757010201.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 450.078644 m,
      bearing: 168.016063 deg,
      approach rate: -0.323927 m/s,
      LOS rate: -0.087304 deg/s,
      cmd heading: 167.203031 deg,
      new cmd heading: 167.130059 deg.

2025-09-04T18:23:21.576Z,1757010201.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916970 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:21.737Z,1757010201.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261448
2025-09-04T18:23:21.954Z,1757010201.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:21.957Z,1757010201.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 449.957123 m,
      bearing: 167.984886 deg,
      approach rate: -0.317861 m/s,
      LOS rate: -0.081572 deg/s,
      cmd heading: 167.130057 deg,
      new cmd heading: 167.067686 deg.

2025-09-04T18:23:21.958Z,1757010201.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.915881 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:21.989Z,1757010201.989 [DAT](INFO): DAT read: Rx Time:18:23:20.6115

2025-09-04T18:23:21.989Z,1757010201.989 [DAT](INFO): Rx dataTimestamp_ set to:1757010201.989076
2025-09-04T18:23:21.990Z,1757010201.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513867
2025-09-04T18:23:22.241Z,1757010202.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764948
2025-09-04T18:23:22.441Z,1757010202.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.95 m.
2025-09-04T18:23:22.443Z,1757010202.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.954132 m,
      nav range: 449.800568 m,
      bearing: 167.946595 deg,
      approach rate: -0.321929 m/s,
      LOS rate: -0.078767 deg/s,
      cmd heading: 167.067684 deg,
      new cmd heading: 166.991074 deg.

2025-09-04T18:23:22.449Z,1757010202.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.914544 target range: 453.954132 and range: 455.70 m.
2025-09-04T18:23:22.502Z,1757010202.502 [DAT](INFO): DAT read: 18:23:20.6115 LVL= 28080, 28305, 20082, 27251, AGC= 75, IDX= 112, 0.06,-1.739,-1.916,-0.425,-1.397, PHS=-0.240,-0.475, 0.927, RAW= 201.0,  -3.3, CAL= 200.9,  -5.8, ROT= 309.1,   5.8

2025-09-04T18:23:22.503Z,1757010202.503 [DAT](INFO): got valid direction response:
 18:23:20.6115 LVL= 28080, 28305, 20082, 27251, AGC= 75, IDX= 112, 0.06,-1.739,-1.916,-0.425,-1.397, PHS=-0.240,-0.475, 0.927, RAW= 201.0,  -3.3, CAL= 200.9,  -5.8, ROT= 309.1,   5.8

2025-09-04T18:23:22.505Z,1757010202.505 [DAT](INFO): DAT read: Bearing  17.7, -45.7 (Local)

2025-09-04T18:23:22.505Z,1757010202.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.7, -45.7 (Local)

2025-09-04T18:23:22.507Z,1757010202.507 [DAT](INFO): DAT read: Range 11 to 50 : 468.9 m  (Round-trip  625.2 ms) speed  0.3 m/s

2025-09-04T18:23:22.508Z,1757010202.508 [DAT](INFO): DAT read: user:2714>

2025-09-04T18:23:22.509Z,1757010202.509 [DAT](INFO): DAT read: Tx time:18:23:21.7321

2025-09-04T18:23:22.509Z,1757010202.509 [DAT](INFO): Ping request sent.
2025-09-04T18:23:22.509Z,1757010202.509 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:22.509Z,1757010202.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:22.510Z,1757010202.510 [DAT](INFO): direction in FSK: [0.627447,-0.772073,-0.101056]
2025-09-04T18:23:22.511Z,1757010202.511 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:22.511Z,1757010202.511 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:22.514Z,1757010202.514 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:22.515Z,1757010202.515 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:22.874Z,1757010202.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 468.899994 m,
      deltaT: 4.032441 s,
      deltaX: 13.199982 m,
      approachRate: 3.273447 m/s,
      rangeRepo size: 4

2025-09-04T18:23:22.876Z,1757010202.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 467.012115 m,
      bearing: 170.733443 deg,
      lat: 36.779282 deg,
      lon: -121.859556 deg,
      deltaT: 4.032441 s,
      deltaX: 13.057983 m,
      approachRate: 3.238233 m/s,
      posRepo size: 4

2025-09-04T18:23:22.877Z,1757010202.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:22.880Z,1757010202.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 456.284546 m,
      bearing: 168.143099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078767 deg/s,
      cmd heading: 166.991076 deg,
      new cmd heading: 166.922909 deg.

2025-09-04T18:23:22.905Z,1757010202.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913354 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:23.295Z,1757010203.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:23.302Z,1757010203.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 456.128998 m,
      bearing: 168.110663 deg,
      approach rate: -0.369112 m/s,
      LOS rate: -0.076996 deg/s,
      cmd heading: 166.922911 deg,
      new cmd heading: 166.858017 deg.

2025-09-04T18:23:23.303Z,1757010203.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.912222 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:23.713Z,1757010203.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:23.715Z,1757010203.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:23.718Z,1757010203.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 455.953613 m,
      bearing: 168.080731 deg,
      approach rate: -0.416774 m/s,
      LOS rate: -0.071157 deg/s,
      cmd heading: 166.858011 deg,
      new cmd heading: 166.798123 deg.

2025-09-04T18:23:23.719Z,1757010203.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.911176 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:23.753Z,1757010203.753 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:23.754Z,1757010203.754 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:23.754Z,1757010203.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:24.005Z,1757010204.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495945
2025-09-04T18:23:24.090Z,1757010204.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:24.093Z,1757010204.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 455.796753 m,
      bearing: 168.054947 deg,
      approach rate: -0.418790 m/s,
      LOS rate: -0.068862 deg/s,
      cmd heading: 166.798124 deg,
      new cmd heading: 166.746539 deg.

2025-09-04T18:23:24.094Z,1757010204.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.910276 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:24.257Z,1757010204.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747827
2025-09-04T18:23:24.509Z,1757010204.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000001
2025-09-04T18:23:24.511Z,1757010204.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:24.514Z,1757010204.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 455.617767 m,
      bearing: 168.026589 deg,
      approach rate: -0.424840 m/s,
      LOS rate: -0.067338 deg/s,
      cmd heading: 166.746542 deg,
      new cmd heading: 166.689803 deg.

2025-09-04T18:23:24.515Z,1757010204.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.909286 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:24.762Z,1757010204.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252658
2025-09-04T18:23:24.921Z,1757010204.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:24.924Z,1757010204.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 455.440308 m,
      bearing: 167.998432 deg,
      approach rate: -0.433111 m/s,
      LOS rate: -0.068747 deg/s,
      cmd heading: 166.689797 deg,
      new cmd heading: 166.633461 deg.

2025-09-04T18:23:24.925Z,1757010204.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.908303 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:25.013Z,1757010205.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504081
2025-09-04T18:23:25.265Z,1757010205.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756113
2025-09-04T18:23:25.308Z,1757010205.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:25.311Z,1757010205.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 455.267151 m,
      bearing: 167.972884 deg,
      approach rate: -0.447346 m/s,
      LOS rate: -0.066027 deg/s,
      cmd heading: 166.633461 deg,
      new cmd heading: 166.582346 deg.

2025-09-04T18:23:25.312Z,1757010205.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907410 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:25.517Z,1757010205.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008130
2025-09-04T18:23:25.769Z,1757010205.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260246
2025-09-04T18:23:25.869Z,1757010205.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:25.871Z,1757010205.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:25.874Z,1757010205.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 455.027191 m,
      bearing: 167.937312 deg,
      approach rate: -0.426095 m/s,
      LOS rate: -0.063198 deg/s,
      cmd heading: 166.582344 deg,
      new cmd heading: 166.511164 deg.

2025-09-04T18:23:25.875Z,1757010205.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.906168 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:26.022Z,1757010206.022 [DAT](INFO): DAT read: Rx Time:18:23:24.7409

2025-09-04T18:23:26.023Z,1757010206.023 [DAT](INFO): Rx dataTimestamp_ set to:1757010206.022341
2025-09-04T18:23:26.023Z,1757010206.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514018
2025-09-04T18:23:26.273Z,1757010206.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763921
2025-09-04T18:23:26.373Z,1757010206.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 467.01 m.
2025-09-04T18:23:26.376Z,1757010206.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 467.012115 m,
      nav range: 454.816437 m,
      bearing: 167.907142 deg,
      approach rate: -0.420137 m/s,
      LOS rate: -0.060171 deg/s,
      cmd heading: 166.511160 deg,
      new cmd heading: 166.450793 deg.

2025-09-04T18:23:26.381Z,1757010206.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.905114 target range: 467.012115 and range: 468.90 m.
2025-09-04T18:23:26.565Z,1757010206.565 [DAT](INFO): DAT read: 18:23:24.7409 LVL= 26496, 30705, 23474, 27635, AGC= 74, IDX= 236, 0.43, 2.506, 1.845,-2.143, 2.964, PHS=-0.356,-1.073, 1.133, RAW= 191.4,   3.1, CAL= 191.6,   0.3, ROT= 318.4,  -0.3

2025-09-04T18:23:26.566Z,1757010206.566 [DAT](INFO): got valid direction response:
 18:23:24.7409 LVL= 26496, 30705, 23474, 27635, AGC= 74, IDX= 236, 0.43, 2.506, 1.845,-2.143, 2.964, PHS=-0.356,-1.073, 1.133, RAW= 191.4,   3.1, CAL= 191.6,   0.3, ROT= 318.4,  -0.3

2025-09-04T18:23:26.572Z,1757010206.572 [DAT](INFO): DAT read: Bearing  16.2, -37.8 (Local)

2025-09-04T18:23:26.573Z,1757010206.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.2, -37.8 (Local)

2025-09-04T18:23:26.575Z,1757010206.575 [DAT](INFO): DAT read: Range 11 to 50 : 453.4 m  (Round-trip  604.6 ms) speed  0.4 m/s

2025-09-04T18:23:26.582Z,1757010206.582 [DAT](INFO): DAT read: user:2715>

2025-09-04T18:23:26.583Z,1757010206.583 [DAT](INFO): DAT read: Tx time:18:23:25.8321

2025-09-04T18:23:26.584Z,1757010206.584 [DAT](INFO): Ping request sent.
2025-09-04T18:23:26.608Z,1757010206.608 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:26.609Z,1757010206.609 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:26.610Z,1757010206.610 [DAT](INFO): direction in FSK: [0.747788,-0.663917,0.005236]
2025-09-04T18:23:26.611Z,1757010206.611 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:26.611Z,1757010206.611 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:26.620Z,1757010206.620 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:26.624Z,1757010206.624 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:26.889Z,1757010206.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 453.399994 m,
      deltaT: 4.035666 s,
      deltaX: -15.500000 m,
      approachRate: -3.840754 m/s,
      rangeRepo size: 4

2025-09-04T18:23:26.891Z,1757010206.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 451.560608 m,
      bearing: 169.459826 deg,
      lat: 36.779282 deg,
      lon: -121.859706 deg,
      deltaT: 4.035666 s,
      deltaX: -15.451508 m,
      approachRate: -3.828738 m/s,
      posRepo size: 4

2025-09-04T18:23:26.892Z,1757010206.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:26.895Z,1757010206.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 451.959564 m,
      bearing: 169.531642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060171 deg/s,
      cmd heading: 166.450795 deg,
      new cmd heading: 166.388770 deg.

2025-09-04T18:23:26.896Z,1757010206.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904032 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:27.267Z,1757010207.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:27.270Z,1757010207.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 451.777466 m,
      bearing: 169.509419 deg,
      approach rate: -0.481011 m/s,
      LOS rate: -0.058726 deg/s,
      cmd heading: 166.388763 deg,
      new cmd heading: 166.344299 deg.

2025-09-04T18:23:27.271Z,1757010207.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.903256 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:27.676Z,1757010207.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:27.679Z,1757010207.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 451.577637 m,
      bearing: 169.486745 deg,
      approach rate: -0.488322 m/s,
      LOS rate: -0.055433 deg/s,
      cmd heading: 166.344299 deg,
      new cmd heading: 166.298930 deg.

2025-09-04T18:23:27.681Z,1757010207.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.902464 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:28.057Z,1757010208.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:28.059Z,1757010208.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:28.063Z,1757010208.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 451.387146 m,
      bearing: 169.465889 deg,
      approach rate: -0.496863 m/s,
      LOS rate: -0.054422 deg/s,
      cmd heading: 166.298932 deg,
      new cmd heading: 166.257203 deg.

2025-09-04T18:23:28.064Z,1757010208.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.901736 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:28.289Z,1757010208.289 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:28.289Z,1757010208.289 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:28.289Z,1757010208.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:28.465Z,1757010208.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:28.469Z,1757010208.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 451.183136 m,
      bearing: 169.444316 deg,
      approach rate: -0.502444 m/s,
      LOS rate: -0.053155 deg/s,
      cmd heading: 166.257200 deg,
      new cmd heading: 166.214035 deg.

2025-09-04T18:23:28.471Z,1757010208.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.900982 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:28.543Z,1757010208.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958978
2025-09-04T18:23:28.793Z,1757010208.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209424
2025-09-04T18:23:28.867Z,1757010208.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:28.890Z,1757010208.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 450.976685 m,
      bearing: 169.423275 deg,
      approach rate: -0.513724 m/s,
      LOS rate: -0.052381 deg/s,
      cmd heading: 166.214033 deg,
      new cmd heading: 166.171932 deg.

2025-09-04T18:23:28.891Z,1757010208.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.900247 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:29.045Z,1757010209.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461573
2025-09-04T18:23:29.275Z,1757010209.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:29.278Z,1757010209.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 450.764923 m,
      bearing: 169.402457 deg,
      approach rate: -0.519054 m/s,
      LOS rate: -0.051051 deg/s,
      cmd heading: 166.171932 deg,
      new cmd heading: 166.130277 deg.

2025-09-04T18:23:29.279Z,1757010209.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899520 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:29.315Z,1757010209.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730742
2025-09-04T18:23:29.565Z,1757010209.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981740
2025-09-04T18:23:29.699Z,1757010209.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:29.701Z,1757010209.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 450.540863 m,
      bearing: 169.379808 deg,
      approach rate: -0.529347 m/s,
      LOS rate: -0.053535 deg/s,
      cmd heading: 166.130281 deg,
      new cmd heading: 166.084962 deg.

2025-09-04T18:23:29.702Z,1757010209.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.898729 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:29.819Z,1757010209.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235166
2025-09-04T18:23:30.069Z,1757010210.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485440
2025-09-04T18:23:30.091Z,1757010210.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:30.101Z,1757010210.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:30.123Z,1757010210.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 450.339447 m,
      bearing: 169.360183 deg,
      approach rate: -0.500132 m/s,
      LOS rate: -0.048752 deg/s,
      cmd heading: 166.084956 deg,
      new cmd heading: 166.045689 deg.

2025-09-04T18:23:30.124Z,1757010210.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.898044 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:30.322Z,1757010210.322 [DAT](INFO): DAT read: Rx Time:18:23:28.8383

2025-09-04T18:23:30.323Z,1757010210.323 [DAT](INFO): Rx dataTimestamp_ set to:1757010210.322521
2025-09-04T18:23:30.324Z,1757010210.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740570
2025-09-04T18:23:30.506Z,1757010210.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.56 m.
2025-09-04T18:23:30.510Z,1757010210.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.560608 m,
      nav range: 450.117706 m,
      bearing: 169.339380 deg,
      approach rate: -0.547919 m/s,
      LOS rate: -0.051431 deg/s,
      cmd heading: 166.045683 deg,
      new cmd heading: 166.004055 deg.

2025-09-04T18:23:30.511Z,1757010210.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.897317 target range: 451.560608 and range: 453.40 m.
2025-09-04T18:23:30.575Z,1757010210.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.990523
2025-09-04T18:23:30.835Z,1757010210.835 [DAT](INFO): DAT read: 18:23:28.8383 LVL= 30752, 29777, 26946, 32755, AGC= 72, IDX= 418, 0.02,-1.033,-1.982, 0.278,-0.775, PHS=-0.157,-1.162, 1.009, RAW= 182.4,   3.3, CAL= 182.2,   0.7, ROT= 327.8,  -0.7

2025-09-04T18:23:30.836Z,1757010210.836 [DAT](INFO): got valid direction response:
 18:23:28.8383 LVL= 30752, 29777, 26946, 32755, AGC= 72, IDX= 418, 0.02,-1.033,-1.982, 0.278,-0.775, PHS=-0.157,-1.162, 1.009, RAW= 182.4,   3.3, CAL= 182.2,   0.7, ROT= 327.8,  -0.7

2025-09-04T18:23:30.837Z,1757010210.837 [DAT](INFO): DAT read: Bearing   7.2, -28.5 (Local)

2025-09-04T18:23:30.837Z,1757010210.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.2, -28.5 (Local)

2025-09-04T18:23:30.839Z,1757010210.839 [DAT](INFO): DAT read: Range 11 to 50 : 451.5 m  (Round-trip  602.1 ms) speed  0.4 m/s

2025-09-04T18:23:30.839Z,1757010210.839 [DAT](INFO): DAT read: user:2716>

2025-09-04T18:23:30.840Z,1757010210.840 [DAT](INFO): DAT read: Tx time:18:23:29.9321

2025-09-04T18:23:30.841Z,1757010210.841 [DAT](INFO): Ping request sent.
2025-09-04T18:23:30.841Z,1757010210.841 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:30.841Z,1757010210.841 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:30.842Z,1757010210.842 [DAT](INFO): direction in FSK: [0.846130,-0.532837,0.012217]
2025-09-04T18:23:30.843Z,1757010210.843 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:30.843Z,1757010210.843 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:30.846Z,1757010210.846 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:30.846Z,1757010210.846 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:30.943Z,1757010210.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 451.500000 m,
      deltaT: 4.296915 s,
      deltaX: -1.899994 m,
      approachRate: -0.442176 m/s,
      rangeRepo size: 4

2025-09-04T18:23:30.949Z,1757010210.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 449.661774 m,
      bearing: 168.421945 deg,
      lat: 36.779310 deg,
      lon: -121.859706 deg,
      deltaT: 4.296915 s,
      deltaX: -1.898834 m,
      approachRate: -0.441906 m/s,
      posRepo size: 4

2025-09-04T18:23:30.950Z,1757010210.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:30.956Z,1757010210.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 446.806305 m,
      bearing: 169.243044 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051431 deg/s,
      cmd heading: 166.004059 deg,
      new cmd heading: 165.959214 deg.

2025-09-04T18:23:30.957Z,1757010210.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.896535 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:31.327Z,1757010211.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:31.335Z,1757010211.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 446.602661 m,
      bearing: 169.225198 deg,
      approach rate: -0.530380 m/s,
      LOS rate: -0.046502 deg/s,
      cmd heading: 165.959212 deg,
      new cmd heading: 165.923503 deg.

2025-09-04T18:23:31.336Z,1757010211.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895911 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:31.753Z,1757010211.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:31.755Z,1757010211.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 446.359436 m,
      bearing: 169.202877 deg,
      approach rate: -0.570089 m/s,
      LOS rate: -0.052346 deg/s,
      cmd heading: 165.923504 deg,
      new cmd heading: 165.878838 deg.

2025-09-04T18:23:31.761Z,1757010211.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.895132 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:32.119Z,1757010212.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:32.121Z,1757010212.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:32.124Z,1757010212.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 446.141388 m,
      bearing: 169.183641 deg,
      approach rate: -0.591378 m/s,
      LOS rate: -0.052195 deg/s,
      cmd heading: 165.878835 deg,
      new cmd heading: 165.840345 deg.

2025-09-04T18:23:32.125Z,1757010212.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.894460 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:32.338Z,1757010212.338 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:32.339Z,1757010212.339 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:32.339Z,1757010212.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:32.565Z,1757010212.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:32.568Z,1757010212.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 445.897766 m,
      bearing: 169.163006 deg,
      approach rate: -0.549173 m/s,
      LOS rate: -0.046540 deg/s,
      cmd heading: 165.840340 deg,
      new cmd heading: 165.799048 deg.

2025-09-04T18:23:32.573Z,1757010212.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.893739 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:32.589Z,1757010212.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748110
2025-09-04T18:23:32.842Z,1757010212.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001290
2025-09-04T18:23:33.074Z,1757010213.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:33.077Z,1757010213.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 445.597198 m,
      bearing: 169.138581 deg,
      approach rate: -0.590118 m/s,
      LOS rate: -0.047987 deg/s,
      cmd heading: 165.799045 deg,
      new cmd heading: 165.750161 deg.

2025-09-04T18:23:33.078Z,1757010213.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892886 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:33.093Z,1757010213.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252332
2025-09-04T18:23:33.345Z,1757010213.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504363
2025-09-04T18:23:33.547Z,1757010213.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:33.554Z,1757010213.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 445.339478 m,
      bearing: 169.116824 deg,
      approach rate: -0.545568 m/s,
      LOS rate: -0.046085 deg/s,
      cmd heading: 165.750168 deg,
      new cmd heading: 165.706627 deg.

2025-09-04T18:23:33.554Z,1757010213.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892126 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:33.597Z,1757010213.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756348
2025-09-04T18:23:33.849Z,1757010213.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008267
2025-09-04T18:23:34.046Z,1757010214.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:34.050Z,1757010214.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 445.048523 m,
      bearing: 169.092224 deg,
      approach rate: -0.582173 m/s,
      LOS rate: -0.049253 deg/s,
      cmd heading: 165.706632 deg,
      new cmd heading: 165.657401 deg.

2025-09-04T18:23:34.051Z,1757010214.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891267 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:34.109Z,1757010214.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268723
2025-09-04T18:23:34.366Z,1757010214.366 [DAT](INFO): DAT read: Rx Time:18:23:32.9549

2025-09-04T18:23:34.367Z,1757010214.367 [DAT](INFO): Rx dataTimestamp_ set to:1757010214.366434
2025-09-04T18:23:34.367Z,1757010214.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526505
2025-09-04T18:23:34.462Z,1757010214.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:34.464Z,1757010214.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:34.467Z,1757010214.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 444.803558 m,
      bearing: 169.074065 deg,
      approach rate: -0.586768 m/s,
      LOS rate: -0.043522 deg/s,
      cmd heading: 165.657400 deg,
      new cmd heading: 165.621061 deg.

2025-09-04T18:23:34.469Z,1757010214.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.890633 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:34.614Z,1757010214.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772765
2025-09-04T18:23:34.853Z,1757010214.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.66 m.
2025-09-04T18:23:34.856Z,1757010214.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.661774 m,
      nav range: 444.574677 m,
      bearing: 169.057077 deg,
      approach rate: -0.587806 m/s,
      LOS rate: -0.043651 deg/s,
      cmd heading: 165.621063 deg,
      new cmd heading: 165.587070 deg.

2025-09-04T18:23:34.857Z,1757010214.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.890040 target range: 449.661774 and range: 451.50 m.
2025-09-04T18:23:34.871Z,1757010214.871 [DAT](INFO): DAT read: 18:23:32.9549 LVL= 19824, 18049, 17042, 22451, AGC= 71, IDX=  92, 0.00, 1.399, 0.301, 2.236, 1.241, PHS= 0.260,-0.895, 0.951, RAW= 171.7,  -3.9, CAL= 171.8,  -6.0, ROT= 338.2,   6.0

2025-09-04T18:23:34.872Z,1757010214.872 [DAT](INFO): got valid direction response:
 18:23:32.9549 LVL= 19824, 18049, 17042, 22451, AGC= 71, IDX=  92, 0.00, 1.399, 0.301, 2.236, 1.241, PHS= 0.260,-0.895, 0.951, RAW= 171.7,  -3.9, CAL= 171.8,  -6.0, ROT= 338.2,   6.0

2025-09-04T18:23:34.873Z,1757010214.873 [DAT](INFO): DAT read: Bearing 349.8, -16.8 (Local)

2025-09-04T18:23:34.873Z,1757010214.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.8, -16.8 (Local)

2025-09-04T18:23:34.875Z,1757010214.875 [DAT](INFO): DAT read: Range 11 to 50 : 464.0 m  (Round-trip  618.7 ms) speed  0.2 m/s

2025-09-04T18:23:34.875Z,1757010214.875 [DAT](INFO): DAT read: user:2717>

2025-09-04T18:23:34.877Z,1757010214.877 [DAT](INFO): DAT read: Tx time:18:23:34.0821

2025-09-04T18:23:34.877Z,1757010214.877 [DAT](INFO): Ping request sent.
2025-09-04T18:23:34.877Z,1757010214.877 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:34.877Z,1757010214.877 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:34.878Z,1757010214.878 [DAT](INFO): direction in FSK: [0.923400,-0.369333,-0.104528]
2025-09-04T18:23:34.878Z,1757010214.878 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:34.879Z,1757010214.879 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:34.883Z,1757010214.883 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:34.883Z,1757010214.883 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:35.240Z,1757010215.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 464.000000 m,
      deltaT: 4.039083 s,
      deltaX: 12.500000 m,
      approachRate: 3.094762 m/s,
      rangeRepo size: 4

2025-09-04T18:23:35.242Z,1757010215.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 462.110748 m,
      bearing: 166.248431 deg,
      lat: 36.779282 deg,
      lon: -121.859706 deg,
      deltaT: 4.039083 s,
      deltaX: 12.448975 m,
      approachRate: 3.082129 m/s,
      posRepo size: 4

2025-09-04T18:23:35.243Z,1757010215.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:35.246Z,1757010215.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 447.409882 m,
      bearing: 169.117563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043651 deg/s,
      cmd heading: 165.587076 deg,
      new cmd heading: 165.553367 deg.

2025-09-04T18:23:35.247Z,1757010215.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.889451 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:35.715Z,1757010215.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:35.746Z,1757010215.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 447.142883 m,
      bearing: 169.099340 deg,
      approach rate: -0.561416 m/s,
      LOS rate: -0.038340 deg/s,
      cmd heading: 165.553363 deg,
      new cmd heading: 165.516895 deg.

2025-09-04T18:23:35.747Z,1757010215.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888815 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:36.070Z,1757010216.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:36.073Z,1757010216.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 446.930420 m,
      bearing: 169.085513 deg,
      approach rate: -0.598736 m/s,
      LOS rate: -0.038985 deg/s,
      cmd heading: 165.516889 deg,
      new cmd heading: 165.489222 deg.

2025-09-04T18:23:36.074Z,1757010216.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.888332 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:36.514Z,1757010216.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:36.517Z,1757010216.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:36.520Z,1757010216.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 446.673462 m,
      bearing: 169.068769 deg,
      approach rate: -0.575093 m/s,
      LOS rate: -0.037497 deg/s,
      cmd heading: 165.489227 deg,
      new cmd heading: 165.455719 deg.

2025-09-04T18:23:36.521Z,1757010216.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887747 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:36.633Z,1757010216.633 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:36.633Z,1757010216.633 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:36.633Z,1757010216.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:36.885Z,1757010216.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008135
2025-09-04T18:23:36.893Z,1757010216.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:36.895Z,1757010216.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 446.458405 m,
      bearing: 169.056044 deg,
      approach rate: -0.572039 m/s,
      LOS rate: -0.033863 deg/s,
      cmd heading: 165.455718 deg,
      new cmd heading: 165.430257 deg.

2025-09-04T18:23:36.896Z,1757010216.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.887303 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:37.137Z,1757010217.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260063
2025-09-04T18:23:37.299Z,1757010217.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:37.304Z,1757010217.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 446.215271 m,
      bearing: 169.042346 deg,
      approach rate: -0.599709 m/s,
      LOS rate: -0.033807 deg/s,
      cmd heading: 165.430255 deg,
      new cmd heading: 165.402843 deg.

2025-09-04T18:23:37.306Z,1757010217.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886824 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:37.393Z,1757010217.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515673
2025-09-04T18:23:37.643Z,1757010217.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766438
2025-09-04T18:23:37.766Z,1757010217.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:37.773Z,1757010217.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 445.954987 m,
      bearing: 169.028988 deg,
      approach rate: -0.556313 m/s,
      LOS rate: -0.028565 deg/s,
      cmd heading: 165.402839 deg,
      new cmd heading: 165.376109 deg.

2025-09-04T18:23:37.774Z,1757010217.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.886358 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:37.894Z,1757010217.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016732
2025-09-04T18:23:38.145Z,1757010218.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268018
2025-09-04T18:23:38.172Z,1757010218.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:38.175Z,1757010218.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 445.700775 m,
      bearing: 169.016626 deg,
      approach rate: -0.625865 m/s,
      LOS rate: -0.030453 deg/s,
      cmd heading: 165.376106 deg,
      new cmd heading: 165.351367 deg.

2025-09-04T18:23:38.176Z,1757010218.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.885926 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:38.397Z,1757010218.397 [DAT](INFO): DAT read: Rx Time:18:23:37.1019

2025-09-04T18:23:38.398Z,1757010218.398 [DAT](INFO): Rx dataTimestamp_ set to:1757010218.397342
2025-09-04T18:23:38.398Z,1757010218.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521169
2025-09-04T18:23:38.587Z,1757010218.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:38.589Z,1757010218.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.11 m.
2025-09-04T18:23:38.593Z,1757010218.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 462.110748 m,
      nav range: 445.455597 m,
      bearing: 169.005321 deg,
      approach rate: -0.587753 m/s,
      LOS rate: -0.027116 deg/s,
      cmd heading: 165.351367 deg,
      new cmd heading: 165.328744 deg.

2025-09-04T18:23:38.593Z,1757010218.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.885531 target range: 462.110748 and range: 464.00 m.
2025-09-04T18:23:38.650Z,1757010218.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773234
2025-09-04T18:23:38.913Z,1757010218.913 [DAT](INFO): DAT read: 18:23:37.1019 LVL= 32752, 32753, 26354, 32755, AGC= 71, IDX= 420,-0.19,-2.483, 2.454,-1.929,-2.766, PHS= 0.386,-1.018, 0.794, RAW= 162.4,  -2.0, CAL= 161.7,  -3.8, ROT= 348.3,   3.8

2025-09-04T18:23:38.914Z,1757010218.914 [DAT](INFO): got valid direction response:
 18:23:37.1019 LVL= 32752, 32753, 26354, 32755, AGC= 71, IDX= 420,-0.19,-2.483, 2.454,-1.929,-2.766, PHS= 0.386,-1.018, 0.794, RAW= 162.4,  -2.0, CAL= 161.7,  -3.8, ROT= 348.3,   3.8

2025-09-04T18:23:38.915Z,1757010218.915 [DAT](INFO): DAT read: Bearing 341.7,  -6.3 (Local)

2025-09-04T18:23:38.915Z,1757010218.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,  -6.3 (Local)

2025-09-04T18:23:38.917Z,1757010218.917 [DAT](INFO): DAT read: Range 11 to 50 : 461.7 m  (Round-trip  615.7 ms) speed  0.5 m/s

2025-09-04T18:23:38.918Z,1757010218.918 [DAT](INFO): DAT read: user:2718>

2025-09-04T18:23:38.918Z,1757010218.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:38.919Z,1757010218.919 [DAT](INFO): direction in FSK: [0.977070,-0.202342,-0.066274]
2025-09-04T18:23:38.919Z,1757010218.919 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:38.923Z,1757010218.923 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:38.923Z,1757010218.923 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:38.923Z,1757010218.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:39.050Z,1757010219.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 461.700012 m,
      deltaT: 4.039275 s,
      deltaX: -2.299988 m,
      approachRate: -0.569406 m/s,
      rangeRepo size: 4

2025-09-04T18:23:39.056Z,1757010219.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.814880 m,
      bearing: 166.671697 deg,
      lat: 36.779196 deg,
      lon: -121.859636 deg,
      deltaT: 4.039275 s,
      deltaX: -2.295868 m,
      approachRate: -0.568386 m/s,
      posRepo size: 4

2025-09-04T18:23:39.057Z,1757010219.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:39.060Z,1757010219.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 455.728180 m,
      bearing: 168.452426 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027116 deg/s,
      cmd heading: 165.328745 deg,
      new cmd heading: 165.303787 deg.

2025-09-04T18:23:39.065Z,1757010219.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.885095 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:39.153Z,1757010219.153 [DAT](INFO): DAT read: Tx tme8:23:38.2321

2025-09-04T18:23:39.154Z,1757010219.154 [DAT](INFO): unknown deviceResponse_: Tx tme8:23:38.2321

2025-09-04T18:23:39.154Z,1757010219.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277086
2025-09-04T18:23:39.408Z,1757010219.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530111
2025-09-04T18:23:39.466Z,1757010219.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:39.485Z,1757010219.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 455.487091 m,
      bearing: 168.442464 deg,
      approach rate: -0.578353 m/s,
      LOS rate: -0.023911 deg/s,
      cmd heading: 165.303788 deg,
      new cmd heading: 165.283853 deg.

2025-09-04T18:23:39.486Z,1757010219.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884748 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:39.657Z,1757010219.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.780210
2025-09-04T18:23:39.874Z,1757010219.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:39.877Z,1757010219.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 455.237701 m,
      bearing: 168.433662 deg,
      approach rate: -0.612172 m/s,
      LOS rate: -0.021618 deg/s,
      cmd heading: 165.283857 deg,
      new cmd heading: 165.266244 deg.

2025-09-04T18:23:39.878Z,1757010219.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884440 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:39.909Z,1757010219.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032204
2025-09-04T18:23:40.044Z,1757010220.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:23:40.165Z,1757010220.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287903
2025-09-04T18:23:40.253Z,1757010220.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:40.256Z,1757010220.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 455.004669 m,
      bearing: 168.425428 deg,
      approach rate: -0.614268 m/s,
      LOS rate: -0.021717 deg/s,
      cmd heading: 165.266249 deg,
      new cmd heading: 165.249771 deg.

2025-09-04T18:23:40.257Z,1757010220.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.884153 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:40.417Z,1757010220.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540074
2025-09-04T18:23:40.656Z,1757010220.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:40.658Z,1757010220.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:40.662Z,1757010220.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 454.765808 m,
      bearing: 168.416979 deg,
      approach rate: -0.589319 m/s,
      LOS rate: -0.020856 deg/s,
      cmd heading: 165.249774 deg,
      new cmd heading: 165.232868 deg.

2025-09-04T18:23:40.663Z,1757010220.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883857 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:40.669Z,1757010220.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792102
2025-09-04T18:23:40.921Z,1757010220.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044344
2025-09-04T18:23:41.043Z,1757010221.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:41.046Z,1757010221.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 454.536285 m,
      bearing: 168.410409 deg,
      approach rate: -0.596360 m/s,
      LOS rate: -0.017079 deg/s,
      cmd heading: 165.232863 deg,
      new cmd heading: 165.219717 deg.

2025-09-04T18:23:41.047Z,1757010221.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883628 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:41.056Z,1757010221.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:23:41.175Z,1757010221.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297580
2025-09-04T18:23:41.428Z,1757010221.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550628
2025-09-04T18:23:41.534Z,1757010221.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:41.550Z,1757010221.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 454.233887 m,
      bearing: 168.401996 deg,
      approach rate: -0.616313 m/s,
      LOS rate: -0.017158 deg/s,
      cmd heading: 165.219722 deg,
      new cmd heading: 165.202884 deg.

2025-09-04T18:23:41.560Z,1757010221.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883334 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:41.677Z,1757010221.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799902
2025-09-04T18:23:41.933Z,1757010221.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055808
2025-09-04T18:23:42.016Z,1757010222.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:42.019Z,1757010222.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 453.935486 m,
      bearing: 168.394881 deg,
      approach rate: -0.619208 m/s,
      LOS rate: -0.014774 deg/s,
      cmd heading: 165.202878 deg,
      new cmd heading: 165.188639 deg.

2025-09-04T18:23:42.020Z,1757010222.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.883086 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:42.183Z,1757010222.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306132
2025-09-04T18:23:42.407Z,1757010222.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:42.410Z,1757010222.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 453.692108 m,
      bearing: 168.389548 deg,
      approach rate: -0.622020 m/s,
      LOS rate: -0.013638 deg/s,
      cmd heading: 165.188644 deg,
      new cmd heading: 165.177972 deg.

2025-09-04T18:23:42.411Z,1757010222.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882900 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:42.433Z,1757010222.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556039
2025-09-04T18:23:42.685Z,1757010222.685 [DAT](INFO): DAT read: Rx Time:18:23:41.2391

2025-09-04T18:23:42.686Z,1757010222.686 [DAT](INFO): Rx dataTimestamp_ set to:1757010222.685468
2025-09-04T18:23:42.686Z,1757010222.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809299
2025-09-04T18:23:42.818Z,1757010222.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:42.821Z,1757010222.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.81 m.
2025-09-04T18:23:42.824Z,1757010222.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.814880 m,
      nav range: 453.434906 m,
      bearing: 168.384332 deg,
      approach rate: -0.621593 m/s,
      LOS rate: -0.012614 deg/s,
      cmd heading: 165.177975 deg,
      new cmd heading: 165.167537 deg.

2025-09-04T18:23:42.825Z,1757010222.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882717 target range: 459.814880 and range: 461.70 m.
2025-09-04T18:23:42.937Z,1757010222.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060166
2025-09-04T18:23:43.195Z,1757010223.195 [DAT](INFO): DAT read: 18:23:41.2391 LVL= 23120, 26289, 25074, 32755, AGC= 75, IDX= 317,-0.40,-0.560,-2.053,-0.471,-1.159, PHS= 0.701,-0.850, 0.644, RAW= 148.1,  -6.6, CAL= 148.1,  -7.9, ROT=   1.9,   7.9

2025-09-04T18:23:43.196Z,1757010223.196 [DAT](INFO): got valid direction response:
 18:23:41.2391 LVL= 23120, 26289, 25074, 32755, AGC= 75, IDX= 317,-0.40,-0.560,-2.053,-0.471,-1.159, PHS= 0.701,-0.850, 0.644, RAW= 148.1,  -6.6, CAL= 148.1,  -7.9, ROT=   1.9,   7.9

2025-09-04T18:23:43.197Z,1757010223.197 [DAT](INFO): DAT read: Bearing 328.7,   8.3 (Local)

2025-09-04T18:23:43.197Z,1757010223.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.7,   8.3 (Local)

2025-09-04T18:23:43.199Z,1757010223.199 [DAT](INFO): DAT read: Range 11 to 50 : 452.1 m  (Round-trip  602.9 ms) speed  0.6 m/s

2025-09-04T18:23:43.199Z,1757010223.199 [DAT](INFO): DAT read: user:2719>

2025-09-04T18:23:43.200Z,1757010223.200 [DAT](INFO): DAT read: Tx time:18:23:42.3321

2025-09-04T18:23:43.200Z,1757010223.200 [DAT](INFO): Ping request sent.
2025-09-04T18:23:43.201Z,1757010223.201 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:43.201Z,1757010223.201 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:43.202Z,1757010223.202 [DAT](INFO): direction in FSK: [0.989965,0.032841,-0.137445]
2025-09-04T18:23:43.202Z,1757010223.202 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:43.202Z,1757010223.202 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:43.212Z,1757010223.212 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:43.212Z,1757010223.212 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:43.362Z,1757010223.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 452.100006 m,
      deltaT: 4.284683 s,
      deltaX: -9.600006 m,
      approachRate: -2.240541 m/s,
      rangeRepo size: 4

2025-09-04T18:23:43.368Z,1757010223.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.253632 m,
      bearing: 170.694246 deg,
      lat: 36.779196 deg,
      lon: -121.859636 deg,
      deltaT: 4.284683 s,
      deltaX: -9.561249 m,
      approachRate: -2.231495 m/s,
      posRepo size: 4

2025-09-04T18:23:43.369Z,1757010223.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:43.377Z,1757010223.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 453.129089 m,
      bearing: 168.378122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012614 deg/s,
      cmd heading: 165.167539 deg,
      new cmd heading: 165.153899 deg.

2025-09-04T18:23:43.379Z,1757010223.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882479 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:43.745Z,1757010223.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:43.753Z,1757010223.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 452.867218 m,
      bearing: 168.372865 deg,
      approach rate: -0.682239 m/s,
      LOS rate: -0.013704 deg/s,
      cmd heading: 165.153906 deg,
      new cmd heading: 165.143385 deg.

2025-09-04T18:23:43.754Z,1757010223.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882296 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:44.105Z,1757010224.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:44.108Z,1757010224.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 452.630310 m,
      bearing: 168.368445 deg,
      approach rate: -0.658676 m/s,
      LOS rate: -0.012295 deg/s,
      cmd heading: 165.143387 deg,
      new cmd heading: 165.134543 deg.

2025-09-04T18:23:44.109Z,1757010224.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.882142 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:44.523Z,1757010224.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:44.526Z,1757010224.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 452.369080 m,
      bearing: 168.363904 deg,
      approach rate: -0.625116 m/s,
      LOS rate: -0.010872 deg/s,
      cmd heading: 165.134549 deg,
      new cmd heading: 165.125462 deg.

2025-09-04T18:23:44.527Z,1757010224.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881983 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:44.919Z,1757010224.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:44.921Z,1757010224.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:44.924Z,1757010224.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 452.115448 m,
      bearing: 168.359777 deg,
      approach rate: -0.636667 m/s,
      LOS rate: -0.010366 deg/s,
      cmd heading: 165.125465 deg,
      new cmd heading: 165.117206 deg.

2025-09-04T18:23:44.925Z,1757010224.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881839 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:44.962Z,1757010224.962 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:44.962Z,1757010224.962 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:44.963Z,1757010224.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:45.213Z,1757010225.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012596
2025-09-04T18:23:45.323Z,1757010225.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:45.326Z,1757010225.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 451.863586 m,
      bearing: 168.355926 deg,
      approach rate: -0.627024 m/s,
      LOS rate: -0.009593 deg/s,
      cmd heading: 165.117200 deg,
      new cmd heading: 165.109494 deg.

2025-09-04T18:23:45.327Z,1757010225.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881704 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:45.466Z,1757010225.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265479
2025-09-04T18:23:45.717Z,1757010225.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516307
2025-09-04T18:23:45.772Z,1757010225.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:45.780Z,1757010225.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 451.581421 m,
      bearing: 168.350489 deg,
      approach rate: -0.628631 m/s,
      LOS rate: -0.012119 deg/s,
      cmd heading: 165.109496 deg,
      new cmd heading: 165.098616 deg.

2025-09-04T18:23:45.783Z,1757010225.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881515 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:45.969Z,1757010225.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768622
2025-09-04T18:23:46.119Z,1757010226.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:46.122Z,1757010226.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 451.353302 m,
      bearing: 168.346467 deg,
      approach rate: -0.656212 m/s,
      LOS rate: -0.011576 deg/s,
      cmd heading: 165.098622 deg,
      new cmd heading: 165.090574 deg.

2025-09-04T18:23:46.123Z,1757010226.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881374 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:46.221Z,1757010226.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020617
2025-09-04T18:23:46.474Z,1757010226.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273398
2025-09-04T18:23:46.540Z,1757010226.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:46.543Z,1757010226.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 451.087891 m,
      bearing: 168.341908 deg,
      approach rate: -0.631630 m/s,
      LOS rate: -0.010856 deg/s,
      cmd heading: 165.090576 deg,
      new cmd heading: 165.081453 deg.

2025-09-04T18:23:46.544Z,1757010226.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881215 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:46.725Z,1757010226.725 [DAT](INFO): DAT read: Rx Time:18:23:45.3459

2025-09-04T18:23:46.726Z,1757010226.726 [DAT](INFO): Rx dataTimestamp_ set to:1757010226.725545
2025-09-04T18:23:46.726Z,1757010226.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525793
2025-09-04T18:23:46.947Z,1757010226.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:46.949Z,1757010226.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:46.952Z,1757010226.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 450.835327 m,
      bearing: 168.337656 deg,
      approach rate: -0.616958 m/s,
      LOS rate: -0.010394 deg/s,
      cmd heading: 165.081451 deg,
      new cmd heading: 165.072941 deg.

2025-09-04T18:23:46.953Z,1757010226.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.881066 target range: 450.253632 and range: 452.10 m.
2025-09-04T18:23:46.977Z,1757010226.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776379
2025-09-04T18:23:47.230Z,1757010227.230 [DAT](INFO): DAT read: Range 11 to 50 : 457.2 m  (Round-trip  609.7 ms) speed  0.4 m/s

2025-09-04T18:23:47.231Z,1757010227.231 [DAT](INFO): DAT read: user:2720>

2025-09-04T18:23:47.232Z,1757010227.232 [DAT](INFO): DAT read: Tx time:18:23:46.4321

2025-09-04T18:23:47.232Z,1757010227.232 [DAT](INFO): Ping request sent.
2025-09-04T18:23:47.233Z,1757010227.233 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:47.233Z,1757010227.233 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:23:47.233Z,1757010227.233 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:47.234Z,1757010227.234 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:47.365Z,1757010227.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 457.200012 m,
      deltaT: 4.040427 s,
      deltaX: 5.100006 m,
      approachRate: 1.262244 m/s,
      rangeRepo size: 4

2025-09-04T18:23:47.366Z,1757010227.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:47.374Z,1757010227.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 450.572510 m,
      bearing: 168.333297 deg,
      approach rate: -0.632335 m/s,
      LOS rate: -0.010493 deg/s,
      cmd heading: 165.072941 deg,
      new cmd heading: 165.064218 deg.

2025-09-04T18:23:47.381Z,1757010227.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880914 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:47.781Z,1757010227.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:47.804Z,1757010227.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 450.298828 m,
      bearing: 168.328193 deg,
      approach rate: -0.657707 m/s,
      LOS rate: -0.012273 deg/s,
      cmd heading: 165.064212 deg,
      new cmd heading: 165.053998 deg.

2025-09-04T18:23:47.805Z,1757010227.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880736 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:48.139Z,1757010228.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:48.142Z,1757010228.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 450.063385 m,
      bearing: 168.323781 deg,
      approach rate: -0.657313 m/s,
      LOS rate: -0.012324 deg/s,
      cmd heading: 165.053994 deg,
      new cmd heading: 165.045165 deg.

2025-09-04T18:23:48.143Z,1757010228.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880582 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:48.573Z,1757010228.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:48.576Z,1757010228.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 449.806396 m,
      bearing: 168.318939 deg,
      approach rate: -0.593108 m/s,
      LOS rate: -0.011181 deg/s,
      cmd heading: 165.045169 deg,
      new cmd heading: 165.035480 deg.

2025-09-04T18:23:48.577Z,1757010228.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880413 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:48.944Z,1757010228.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:48.947Z,1757010228.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 449.548309 m,
      bearing: 168.314047 deg,
      approach rate: -0.694655 m/s,
      LOS rate: -0.013174 deg/s,
      cmd heading: 165.035484 deg,
      new cmd heading: 165.025695 deg.

2025-09-04T18:23:48.948Z,1757010228.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880242 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:49.358Z,1757010229.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:49.360Z,1757010229.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:49.363Z,1757010229.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 449.282471 m,
      bearing: 168.308970 deg,
      approach rate: -0.638636 m/s,
      LOS rate: -0.012205 deg/s,
      cmd heading: 165.025690 deg,
      new cmd heading: 165.015529 deg.

2025-09-04T18:23:49.364Z,1757010229.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.880064 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:49.498Z,1757010229.498 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:49.498Z,1757010229.498 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:49.499Z,1757010229.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:49.752Z,1757010229.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519177
2025-09-04T18:23:49.809Z,1757010229.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:49.813Z,1757010229.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 449.000580 m,
      bearing: 168.304697 deg,
      approach rate: -0.627261 m/s,
      LOS rate: -0.009515 deg/s,
      cmd heading: 165.015526 deg,
      new cmd heading: 165.006974 deg.

2025-09-04T18:23:49.813Z,1757010229.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879915 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:50.001Z,1757010230.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768435
2025-09-04T18:23:50.175Z,1757010230.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:50.178Z,1757010230.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 448.783386 m,
      bearing: 168.301344 deg,
      approach rate: -0.594793 m/s,
      LOS rate: -0.009185 deg/s,
      cmd heading: 165.006975 deg,
      new cmd heading: 165.000267 deg.

2025-09-04T18:23:50.179Z,1757010230.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879798 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:50.254Z,1757010230.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021485
2025-09-04T18:23:50.506Z,1757010230.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273203
2025-09-04T18:23:50.569Z,1757010230.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:50.572Z,1757010230.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 448.527344 m,
      bearing: 168.297338 deg,
      approach rate: -0.649472 m/s,
      LOS rate: -0.010169 deg/s,
      cmd heading: 165.000268 deg,
      new cmd heading: 164.992250 deg.

2025-09-04T18:23:50.573Z,1757010230.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879658 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:50.758Z,1757010230.758 [DAT](INFO): DAT read: Rx Time:18:23:49.4423

2025-09-04T18:23:50.759Z,1757010230.759 [DAT](INFO): Rx dataTimestamp_ set to:1757010230.758174
2025-09-04T18:23:50.760Z,1757010230.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527062
2025-09-04T18:23:50.964Z,1757010230.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.25 m.
2025-09-04T18:23:50.967Z,1757010230.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.253632 m,
      nav range: 448.277557 m,
      bearing: 168.293368 deg,
      approach rate: -0.631790 m/s,
      LOS rate: -0.010047 deg/s,
      cmd heading: 164.992249 deg,
      new cmd heading: 164.984305 deg.

2025-09-04T18:23:50.968Z,1757010230.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879519 target range: 450.253632 and range: 457.20 m.
2025-09-04T18:23:51.009Z,1757010231.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776535
2025-09-04T18:23:51.274Z,1757010231.274 [DAT](INFO): DAT read: 18:23:49.4423 LVL= 21936, 21649, 24818, 26099, AGC= 73, IDX= 412, 0.46, 1.361,-0.103, 1.454, 0.724, PHS= 0.738,-0.782, 0.686, RAW= 148.3,  -8.6, CAL= 148.6, -10.3, ROT=   1.4,  10.3

2025-09-04T18:23:51.276Z,1757010231.276 [DAT](INFO): got valid direction response:
 18:23:49.4423 LVL= 21936, 21649, 24818, 26099, AGC= 73, IDX= 412, 0.46, 1.361,-0.103, 1.454, 0.724, PHS= 0.738,-0.782, 0.686, RAW= 148.3,  -8.6, CAL= 148.6, -10.3, ROT=   1.4,  10.3

2025-09-04T18:23:51.282Z,1757010231.282 [DAT](INFO): DAT read: Bearing 320.0,  11.3 (Local)

2025-09-04T18:23:51.283Z,1757010231.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.0,  11.3 (Local)

2025-09-04T18:23:51.286Z,1757010231.286 [DAT](INFO): DAT read: Range 11 to 50 : 454.6 m  (Round-trip  606.2 ms) speed  0.5 m/s

2025-09-04T18:23:51.288Z,1757010231.288 [DAT](INFO): DAT read: user:2721>

2025-09-04T18:23:51.290Z,1757010231.290 [DAT](INFO): DAT read: Tx time:18:23:50.5320

2025-09-04T18:23:51.291Z,1757010231.291 [DAT](INFO): Ping request sent.
2025-09-04T18:23:51.291Z,1757010231.291 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:51.291Z,1757010231.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:51.293Z,1757010231.293 [DAT](INFO): direction in FSK: [0.983591,0.024038,-0.178802]
2025-09-04T18:23:51.294Z,1757010231.294 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:51.294Z,1757010231.294 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:51.297Z,1757010231.297 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:51.297Z,1757010231.297 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:51.507Z,1757010231.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 454.600006 m,
      deltaT: 4.032507 s,
      deltaX: -2.600006 m,
      approachRate: -0.644762 m/s,
      rangeRepo size: 4

2025-09-04T18:23:51.517Z,1757010231.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.743896 m,
      bearing: 166.191275 deg,
      lat: 36.779194 deg,
      lon: -121.859471 deg,
      deltaT: 8.072934 s,
      deltaX: 2.490265 m,
      approachRate: 0.308471 m/s,
      posRepo size: 4

2025-09-04T18:23:51.518Z,1757010231.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:51.525Z,1757010231.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 451.427307 m,
      bearing: 166.469136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010047 deg/s,
      cmd heading: 164.984299 deg,
      new cmd heading: 164.973408 deg.

2025-09-04T18:23:51.526Z,1757010231.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879329 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:51.922Z,1757010231.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:51.933Z,1757010231.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:51.940Z,1757010231.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 451.158447 m,
      bearing: 166.464545 deg,
      approach rate: -0.630168 m/s,
      LOS rate: -0.010768 deg/s,
      cmd heading: 164.973411 deg,
      new cmd heading: 164.964223 deg.

2025-09-04T18:23:51.941Z,1757010231.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879169 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:52.017Z,1757010232.017 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:52.017Z,1757010232.017 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:52.017Z,1757010232.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:52.269Z,1757010232.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978522
2025-09-04T18:23:52.336Z,1757010232.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:52.339Z,1757010232.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 450.879425 m,
      bearing: 166.459707 deg,
      approach rate: -0.706639 m/s,
      LOS rate: -0.012262 deg/s,
      cmd heading: 164.964218 deg,
      new cmd heading: 164.954535 deg.

2025-09-04T18:23:52.352Z,1757010232.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.879000 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:52.521Z,1757010232.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230182
2025-09-04T18:23:52.706Z,1757010232.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:52.710Z,1757010232.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 450.648682 m,
      bearing: 166.455662 deg,
      approach rate: -0.609913 m/s,
      LOS rate: -0.010696 deg/s,
      cmd heading: 164.954533 deg,
      new cmd heading: 164.946439 deg.

2025-09-04T18:23:52.711Z,1757010232.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878859 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:52.773Z,1757010232.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482357
2025-09-04T18:23:53.025Z,1757010233.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734226
2025-09-04T18:23:53.127Z,1757010233.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:53.130Z,1757010233.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 450.379944 m,
      bearing: 166.450946 deg,
      approach rate: -0.638828 m/s,
      LOS rate: -0.011218 deg/s,
      cmd heading: 164.946446 deg,
      new cmd heading: 164.937007 deg.

2025-09-04T18:23:53.131Z,1757010233.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878694 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:53.277Z,1757010233.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986419
2025-09-04T18:23:53.529Z,1757010233.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238341
2025-09-04T18:23:53.538Z,1757010233.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:53.541Z,1757010233.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 450.114685 m,
      bearing: 166.446593 deg,
      approach rate: -0.645464 m/s,
      LOS rate: -0.010597 deg/s,
      cmd heading: 164.937006 deg,
      new cmd heading: 164.928296 deg.

2025-09-04T18:23:53.542Z,1757010233.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878542 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:53.782Z,1757010233.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490735
2025-09-04T18:23:53.907Z,1757010233.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:53.910Z,1757010233.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 449.878540 m,
      bearing: 166.442677 deg,
      approach rate: -0.639961 m/s,
      LOS rate: -0.010620 deg/s,
      cmd heading: 164.928291 deg,
      new cmd heading: 164.920453 deg.

2025-09-04T18:23:53.911Z,1757010233.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878405 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:54.033Z,1757010234.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742469
2025-09-04T18:23:54.285Z,1757010234.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994293
2025-09-04T18:23:54.325Z,1757010234.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:54.327Z,1757010234.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:54.338Z,1757010234.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 449.619934 m,
      bearing: 166.438357 deg,
      approach rate: -0.615551 m/s,
      LOS rate: -0.010289 deg/s,
      cmd heading: 164.920450 deg,
      new cmd heading: 164.911805 deg.

2025-09-04T18:23:54.339Z,1757010234.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878254 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:54.537Z,1757010234.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246261
2025-09-04T18:23:54.704Z,1757010234.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:54.707Z,1757010234.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 449.360901 m,
      bearing: 166.434003 deg,
      approach rate: -0.686488 m/s,
      LOS rate: -0.011545 deg/s,
      cmd heading: 164.911803 deg,
      new cmd heading: 164.903091 deg.

2025-09-04T18:23:54.729Z,1757010234.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.878102 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:54.791Z,1757010234.791 [DAT](INFO): DAT read: Rx Time:18:23:53.5392

2025-09-04T18:23:54.791Z,1757010234.791 [DAT](INFO): Rx dataTimestamp_ set to:1757010234.790753
2025-09-04T18:23:54.792Z,1757010234.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500768
2025-09-04T18:23:55.041Z,1757010235.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750270
2025-09-04T18:23:55.115Z,1757010235.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.74 m.
2025-09-04T18:23:55.118Z,1757010235.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.743896 m,
      nav range: 449.100525 m,
      bearing: 166.429595 deg,
      approach rate: -0.638380 m/s,
      LOS rate: -0.010812 deg/s,
      cmd heading: 164.903088 deg,
      new cmd heading: 164.894268 deg.

2025-09-04T18:23:55.119Z,1757010235.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877948 target range: 452.743896 and range: 454.60 m.
2025-09-04T18:23:55.296Z,1757010235.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.004604
2025-09-04T18:23:55.551Z,1757010235.551 [DAT](INFO): DAT read: 18:23:53.5392 LVL= 26720, 32753, 30370, 32755, AGC= 70, IDX= 306, 0.16,-2.190, 2.504,-2.101,-2.553, PHS= 0.465,-1.181, 0.408, RAW= 148.3,   3.9, CAL= 147.5,   4.0, ROT=   2.5,  -4.0

2025-09-04T18:23:55.552Z,1757010235.552 [DAT](INFO): got valid direction response:
 18:23:53.5392 LVL= 26720, 32753, 30370, 32755, AGC= 70, IDX= 306, 0.16,-2.190, 2.504,-2.101,-2.553, PHS= 0.465,-1.181, 0.408, RAW= 148.3,   3.9, CAL= 147.5,   4.0, ROT=   2.5,  -4.0

2025-09-04T18:23:55.553Z,1757010235.553 [DAT](INFO): DAT read: Bearing 335.2,  14.3 (Local)

2025-09-04T18:23:55.554Z,1757010235.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.2,  14.3 (Local)

2025-09-04T18:23:55.555Z,1757010235.555 [DAT](INFO): DAT read: Range 11 to 50 : 452.3 m  (Round-trip  603.1 ms) speed  0.6 m/s

2025-09-04T18:23:55.556Z,1757010235.556 [DAT](INFO): DAT read: user:2722>

2025-09-04T18:23:55.557Z,1757010235.557 [DAT](INFO): DAT read: Tx time:18:23:54.6320

2025-09-04T18:23:55.557Z,1757010235.557 [DAT](INFO): Ping request sent.
2025-09-04T18:23:55.557Z,1757010235.557 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:55.557Z,1757010235.557 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:55.558Z,1757010235.558 [DAT](INFO): direction in FSK: [0.996615,0.043513,0.069756]
2025-09-04T18:23:55.558Z,1757010235.558 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:55.559Z,1757010235.559 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:55.582Z,1757010235.582 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:55.582Z,1757010235.582 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:55.598Z,1757010235.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 452.299988 m,
      deltaT: 4.283387 s,
      deltaX: -2.300018 m,
      approachRate: -0.536963 m/s,
      rangeRepo size: 4

2025-09-04T18:23:55.620Z,1757010235.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.453094 m,
      bearing: 168.245032 deg,
      lat: 36.779194 deg,
      lon: -121.859471 deg,
      deltaT: 4.283387 s,
      deltaX: -2.290802 m,
      approachRate: -0.534811 m/s,
      posRepo size: 4

2025-09-04T18:23:55.621Z,1757010235.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:55.623Z,1757010235.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 448.803711 m,
      bearing: 166.424116 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010812 deg/s,
      cmd heading: 164.894263 deg,
      new cmd heading: 164.883774 deg.

2025-09-04T18:23:55.633Z,1757010235.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877765 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:56.087Z,1757010236.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:56.094Z,1757010236.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 448.462463 m,
      bearing: 166.417761 deg,
      approach rate: -0.696510 m/s,
      LOS rate: -0.012982 deg/s,
      cmd heading: 164.883772 deg,
      new cmd heading: 164.871051 deg.

2025-09-04T18:23:56.095Z,1757010236.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877543 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:56.446Z,1757010236.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:56.449Z,1757010236.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:56.451Z,1757010236.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 448.195282 m,
      bearing: 166.412748 deg,
      approach rate: -0.738948 m/s,
      LOS rate: -0.013874 deg/s,
      cmd heading: 164.871054 deg,
      new cmd heading: 164.861021 deg.

2025-09-04T18:23:56.453Z,1757010236.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877368 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:56.553Z,1757010236.553 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:23:56.553Z,1757010236.553 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:23:56.553Z,1757010236.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:23:56.805Z,1757010236.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247995
2025-09-04T18:23:56.858Z,1757010236.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:56.861Z,1757010236.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 447.917969 m,
      bearing: 166.407562 deg,
      approach rate: -0.677052 m/s,
      LOS rate: -0.012667 deg/s,
      cmd heading: 164.861027 deg,
      new cmd heading: 164.850651 deg.

2025-09-04T18:23:56.862Z,1757010236.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877187 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:57.057Z,1757010237.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500320
2025-09-04T18:23:57.275Z,1757010237.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:57.278Z,1757010237.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 447.637085 m,
      bearing: 166.402335 deg,
      approach rate: -0.674237 m/s,
      LOS rate: -0.012555 deg/s,
      cmd heading: 164.850645 deg,
      new cmd heading: 164.840185 deg.

2025-09-04T18:23:57.279Z,1757010237.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.877004 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:57.310Z,1757010237.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752409
2025-09-04T18:23:57.561Z,1757010237.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004049
2025-09-04T18:23:57.693Z,1757010237.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:57.696Z,1757010237.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 447.358337 m,
      bearing: 166.397084 deg,
      approach rate: -0.666977 m/s,
      LOS rate: -0.012574 deg/s,
      cmd heading: 164.840182 deg,
      new cmd heading: 164.829672 deg.

2025-09-04T18:23:57.697Z,1757010237.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876821 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:57.814Z,1757010237.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256786
2025-09-04T18:23:58.065Z,1757010238.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508168
2025-09-04T18:23:58.092Z,1757010238.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:58.095Z,1757010238.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 447.109131 m,
      bearing: 166.392387 deg,
      approach rate: -0.664471 m/s,
      LOS rate: -0.012529 deg/s,
      cmd heading: 164.829677 deg,
      new cmd heading: 164.820279 deg.

2025-09-04T18:23:58.104Z,1757010238.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876657 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:58.318Z,1757010238.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761419
2025-09-04T18:23:58.502Z,1757010238.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:23:58.505Z,1757010238.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:58.508Z,1757010238.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 446.827911 m,
      bearing: 166.387081 deg,
      approach rate: -0.643393 m/s,
      LOS rate: -0.012148 deg/s,
      cmd heading: 164.820278 deg,
      new cmd heading: 164.809659 deg.

2025-09-04T18:23:58.509Z,1757010238.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876471 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:58.569Z,1757010238.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012465
2025-09-04T18:23:58.821Z,1757010238.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264267
2025-09-04T18:23:58.884Z,1757010238.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:58.887Z,1757010238.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 446.565063 m,
      bearing: 166.382116 deg,
      approach rate: -0.693402 m/s,
      LOS rate: -0.013106 deg/s,
      cmd heading: 164.809664 deg,
      new cmd heading: 164.799728 deg.

2025-09-04T18:23:58.888Z,1757010238.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876298 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:59.073Z,1757010239.073 [DAT](INFO): DAT read: Rx Time:18:23:57.6253

2025-09-04T18:23:59.073Z,1757010239.073 [DAT](INFO): Rx dataTimestamp_ set to:1757010239.073145
2025-09-04T18:23:59.074Z,1757010239.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516995
2025-09-04T18:23:59.284Z,1757010239.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.45 m.
2025-09-04T18:23:59.303Z,1757010239.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.453094 m,
      nav range: 446.298218 m,
      bearing: 166.377083 deg,
      approach rate: -0.667446 m/s,
      LOS rate: -0.012595 deg/s,
      cmd heading: 164.799733 deg,
      new cmd heading: 164.789662 deg.

2025-09-04T18:23:59.303Z,1757010239.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.876122 target range: 450.453094 and range: 452.30 m.
2025-09-04T18:23:59.325Z,1757010239.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768164
2025-09-04T18:23:59.585Z,1757010239.585 [DAT](INFO): DAT read: 18:23:57.6253 LVL= 22256, 28065, 24562, 29043, AGC= 74, IDX= 196,-0.04, 1.285,-0.400, 1.351, 0.910, PHS= 0.478,-1.265, 0.397, RAW= 147.7,   4.6, CAL= 147.0,   4.9, ROT=   3.0,  -4.9

2025-09-04T18:23:59.586Z,1757010239.586 [DAT](INFO): got valid direction response:
 18:23:57.6253 LVL= 22256, 28065, 24562, 29043, AGC= 74, IDX= 196,-0.04, 1.285,-0.400, 1.351, 0.910, PHS= 0.478,-1.265, 0.397, RAW= 147.7,   4.6, CAL= 147.0,   4.9, ROT=   3.0,  -4.9

2025-09-04T18:23:59.587Z,1757010239.587 [DAT](INFO): DAT read: Bearing 336.3,  16.6 (Local)

2025-09-04T18:23:59.588Z,1757010239.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.3,  16.6 (Local)

2025-09-04T18:23:59.595Z,1757010239.595 [DAT](INFO): DAT read: Range 11 to 50 : 441.9 m  (Round-trip  589.2 ms) speed  0.4 m/s

2025-09-04T18:23:59.597Z,1757010239.597 [DAT](INFO): DAT read: user:2723>

2025-09-04T18:23:59.598Z,1757010239.598 [DAT](INFO): DAT read: Tx time:18:23:58.7320

2025-09-04T18:23:59.598Z,1757010239.598 [DAT](INFO): Ping request sent.
2025-09-04T18:23:59.599Z,1757010239.599 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:23:59.599Z,1757010239.599 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:23:59.600Z,1757010239.600 [DAT](INFO): direction in FSK: [0.994980,0.052145,0.085417]
2025-09-04T18:23:59.600Z,1757010239.600 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:59.601Z,1757010239.601 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:59.634Z,1757010239.634 [DAT](INFO): publishing transmit ping time
2025-09-04T18:23:59.634Z,1757010239.634 [DAT](INFO): publishing direction and range info
2025-09-04T18:23:59.799Z,1757010239.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 441.899994 m,
      deltaT: 4.032347 s,
      deltaX: -10.399994 m,
      approachRate: -2.579142 m/s,
      rangeRepo size: 4

2025-09-04T18:23:59.810Z,1757010239.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 440.092621 m,
      bearing: 168.715133 deg,
      lat: 36.779308 deg,
      lon: -121.859670 deg,
      deltaT: 4.032347 s,
      deltaX: -10.360474 m,
      approachRate: -2.569341 m/s,
      posRepo size: 4

2025-09-04T18:23:59.811Z,1757010239.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:23:59.822Z,1757010239.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 429.684418 m,
      bearing: 168.269764 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012595 deg/s,
      cmd heading: 164.789666 deg,
      new cmd heading: 164.776693 deg.

2025-09-04T18:23:59.823Z,1757010239.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875896 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:00.214Z,1757010240.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:00.223Z,1757010240.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 429.395081 m,
      bearing: 168.264044 deg,
      approach rate: -0.697812 m/s,
      LOS rate: -0.013805 deg/s,
      cmd heading: 164.776688 deg,
      new cmd heading: 164.765240 deg.

2025-09-04T18:24:00.229Z,1757010240.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875696 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:00.629Z,1757010240.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:00.631Z,1757010240.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:00.642Z,1757010240.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 429.122650 m,
      bearing: 168.258650 deg,
      approach rate: -0.652195 m/s,
      LOS rate: -0.012922 deg/s,
      cmd heading: 164.765241 deg,
      new cmd heading: 164.754445 deg.

2025-09-04T18:24:00.643Z,1757010240.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875508 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:00.839Z,1757010240.839 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:00.840Z,1757010240.840 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:00.840Z,1757010240.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:00.989Z,1757010240.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:01.013Z,1757010241.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 428.868591 m,
      bearing: 168.253592 deg,
      approach rate: -0.709828 m/s,
      LOS rate: -0.014141 deg/s,
      cmd heading: 164.754449 deg,
      new cmd heading: 164.744327 deg.

2025-09-04T18:24:01.014Z,1757010241.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875331 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:01.093Z,1757010241.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494654
2025-09-04T18:24:01.345Z,1757010241.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746413
2025-09-04T18:24:01.538Z,1757010241.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:01.541Z,1757010241.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 428.483337 m,
      bearing: 168.247985 deg,
      approach rate: -0.701895 m/s,
      LOS rate: -0.010225 deg/s,
      cmd heading: 164.744327 deg,
      new cmd heading: 164.733102 deg.

2025-09-04T18:24:01.542Z,1757010241.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.875135 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:01.597Z,1757010241.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998505
2025-09-04T18:24:01.850Z,1757010241.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251741
2025-09-04T18:24:02.101Z,1757010242.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502440
2025-09-04T18:24:02.107Z,1757010242.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:02.126Z,1757010242.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 428.085754 m,
      bearing: 168.242212 deg,
      approach rate: -0.698852 m/s,
      LOS rate: -0.010156 deg/s,
      cmd heading: 164.733098 deg,
      new cmd heading: 164.721542 deg.

2025-09-04T18:24:02.127Z,1757010242.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874933 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:02.354Z,1757010242.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755235
2025-09-04T18:24:02.595Z,1757010242.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:02.605Z,1757010242.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006492
2025-09-04T18:24:02.618Z,1757010242.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 427.742676 m,
      bearing: 168.237212 deg,
      approach rate: -0.702365 m/s,
      LOS rate: -0.010245 deg/s,
      cmd heading: 164.721541 deg,
      new cmd heading: 164.711532 deg.

2025-09-04T18:24:02.619Z,1757010242.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874758 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:02.858Z,1757010242.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259791
2025-09-04T18:24:03.005Z,1757010243.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:03.007Z,1757010243.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:03.010Z,1757010243.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 427.454590 m,
      bearing: 168.233025 deg,
      approach rate: -0.699611 m/s,
      LOS rate: -0.010174 deg/s,
      cmd heading: 164.711528 deg,
      new cmd heading: 164.703149 deg.

2025-09-04T18:24:03.011Z,1757010243.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874612 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:03.109Z,1757010243.109 [DAT](INFO): DAT read: Rx Time:18:24:01.7218

2025-09-04T18:24:03.110Z,1757010243.110 [DAT](INFO): Rx dataTimestamp_ set to:1757010243.109321
2025-09-04T18:24:03.110Z,1757010243.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511539
2025-09-04T18:24:03.361Z,1757010243.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762792
2025-09-04T18:24:03.558Z,1757010243.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.09 m.
2025-09-04T18:24:03.561Z,1757010243.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.092621 m,
      nav range: 427.059814 m,
      bearing: 168.228364 deg,
      approach rate: -0.716557 m/s,
      LOS rate: -0.008467 deg/s,
      cmd heading: 164.703154 deg,
      new cmd heading: 164.693825 deg.

2025-09-04T18:24:03.562Z,1757010243.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874449 target range: 440.092621 and range: 441.90 m.
2025-09-04T18:24:03.622Z,1757010243.622 [DAT](INFO): DAT read: 18:24:01.7218 LVL= 30624, 32753, 32754, 32755, AGC= 76, IDX= 303, 0.21,-2.980, 1.740,-2.894, 2.909, PHS= 0.497,-1.124, 0.437, RAW= 148.1,   2.4, CAL= 147.3,   2.4, ROT=   2.7,  -2.4

2025-09-04T18:24:03.623Z,1757010243.623 [DAT](INFO): got valid direction response:
 18:24:01.7218 LVL= 30624, 32753, 32754, 32755, AGC= 76, IDX= 303, 0.21,-2.980, 1.740,-2.894, 2.909, PHS= 0.497,-1.124, 0.437, RAW= 148.1,   2.4, CAL= 147.3,   2.4, ROT=   2.7,  -2.4

2025-09-04T18:24:03.624Z,1757010243.624 [DAT](INFO): DAT read: Bearing 333.6,  17.6 (Local)

2025-09-04T18:24:03.625Z,1757010243.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.6,  17.6 (Local)

2025-09-04T18:24:03.626Z,1757010243.626 [DAT](INFO): DAT read: Range 11 to 50 : 439.2 m  (Round-trip  585.7 ms) speed  0.4 m/s

2025-09-04T18:24:03.627Z,1757010243.627 [DAT](INFO): DAT read: user:2724>

2025-09-04T18:24:03.627Z,1757010243.627 [DAT](INFO): DAT read: Tx time:18:24:02.8320

2025-09-04T18:24:03.628Z,1757010243.628 [DAT](INFO): Ping request sent.
2025-09-04T18:24:03.628Z,1757010243.628 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:03.628Z,1757010243.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:03.629Z,1757010243.629 [DAT](INFO): direction in FSK: [0.998014,0.047065,0.041876]
2025-09-04T18:24:03.629Z,1757010243.629 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:03.630Z,1757010243.630 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:03.633Z,1757010243.633 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:03.634Z,1757010243.634 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:03.847Z,1757010243.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 439.200012 m,
      deltaT: 4.036397 s,
      deltaX: -2.699982 m,
      approachRate: -0.668909 m/s,
      rangeRepo size: 4

2025-09-04T18:24:03.853Z,1757010243.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 437.403992 m,
      bearing: 168.265134 deg,
      lat: 36.779313 deg,
      lon: -121.859670 deg,
      deltaT: 4.036397 s,
      deltaX: -2.688629 m,
      approachRate: -0.666096 m/s,
      posRepo size: 4

2025-09-04T18:24:03.854Z,1757010243.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:03.867Z,1757010243.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 426.384949 m,
      bearing: 168.212624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008467 deg/s,
      cmd heading: 164.693824 deg,
      new cmd heading: 164.688945 deg.

2025-09-04T18:24:03.877Z,1757010243.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874364 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:04.263Z,1757010244.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:04.271Z,1757010244.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 426.086243 m,
      bearing: 168.209110 deg,
      approach rate: -0.716133 m/s,
      LOS rate: -0.008429 deg/s,
      cmd heading: 164.688948 deg,
      new cmd heading: 164.681916 deg.

2025-09-04T18:24:04.273Z,1757010244.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874242 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:04.651Z,1757010244.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:04.657Z,1757010244.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 425.803131 m,
      bearing: 168.205808 deg,
      approach rate: -0.730729 m/s,
      LOS rate: -0.008529 deg/s,
      cmd heading: 164.681912 deg,
      new cmd heading: 164.675303 deg.

2025-09-04T18:24:04.658Z,1757010244.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874126 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:05.032Z,1757010245.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:05.046Z,1757010245.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:05.053Z,1757010245.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 425.523041 m,
      bearing: 168.202515 deg,
      approach rate: -0.708155 m/s,
      LOS rate: -0.008330 deg/s,
      cmd heading: 164.675301 deg,
      new cmd heading: 164.668712 deg.

2025-09-04T18:24:05.054Z,1757010245.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.874011 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:05.125Z,1757010245.125 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:05.125Z,1757010245.125 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:05.126Z,1757010245.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:05.379Z,1757010245.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750830
2025-09-04T18:24:05.553Z,1757010245.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:05.556Z,1757010245.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 425.179382 m,
      bearing: 168.198602 deg,
      approach rate: -0.678558 m/s,
      LOS rate: -0.007733 deg/s,
      cmd heading: 164.668717 deg,
      new cmd heading: 164.660884 deg.

2025-09-04T18:24:05.557Z,1757010245.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873875 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:05.630Z,1757010245.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002013
2025-09-04T18:24:05.871Z,1757010245.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:05.874Z,1757010245.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 424.967987 m,
      bearing: 168.196176 deg,
      approach rate: -0.663761 m/s,
      LOS rate: -0.007621 deg/s,
      cmd heading: 164.660889 deg,
      new cmd heading: 164.656035 deg.

2025-09-04T18:24:05.875Z,1757010245.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873790 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:05.881Z,1757010245.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253258
2025-09-04T18:24:06.137Z,1757010246.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509322
2025-09-04T18:24:06.274Z,1757010246.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:06.277Z,1757010246.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 424.700195 m,
      bearing: 168.193124 deg,
      approach rate: -0.663990 m/s,
      LOS rate: -0.007574 deg/s,
      cmd heading: 164.656040 deg,
      new cmd heading: 164.649930 deg.

2025-09-04T18:24:06.278Z,1757010246.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873683 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:06.385Z,1757010246.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757281
2025-09-04T18:24:06.637Z,1757010246.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009121
2025-09-04T18:24:06.718Z,1757010246.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:06.738Z,1757010246.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 424.418091 m,
      bearing: 168.189904 deg,
      approach rate: -0.637200 m/s,
      LOS rate: -0.007278 deg/s,
      cmd heading: 164.649933 deg,
      new cmd heading: 164.643489 deg.

2025-09-04T18:24:06.739Z,1757010246.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873571 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:06.889Z,1757010246.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261121
2025-09-04T18:24:07.082Z,1757010247.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:07.084Z,1757010247.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:07.087Z,1757010247.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 424.164581 m,
      bearing: 168.187007 deg,
      approach rate: -0.691387 m/s,
      LOS rate: -0.007904 deg/s,
      cmd heading: 164.643486 deg,
      new cmd heading: 164.637689 deg.

2025-09-04T18:24:07.088Z,1757010247.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873470 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:07.142Z,1757010247.142 [DAT](INFO): DAT read: Rx Time:18:24:05.8183

2025-09-04T18:24:07.143Z,1757010247.143 [DAT](INFO): Rx dataTimestamp_ set to:1757010247.142324
2025-09-04T18:24:07.144Z,1757010247.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515474
2025-09-04T18:24:07.397Z,1757010247.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768029
2025-09-04T18:24:07.542Z,1757010247.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-09-04T18:24:07.545Z,1757010247.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.403992 m,
      nav range: 423.857117 m,
      bearing: 168.184499 deg,
      approach rate: -0.670957 m/s,
      LOS rate: -0.005476 deg/s,
      cmd heading: 164.637694 deg,
      new cmd heading: 164.632675 deg.

2025-09-04T18:24:07.546Z,1757010247.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873382 target range: 437.403992 and range: 439.20 m.
2025-09-04T18:24:07.651Z,1757010247.651 [DAT](INFO): DAT read: 18:24:05.8183 LVL= 31200, 32753, 32754, 32755, AGC= 69, IDX= 298,-0.37,-1.431,-2.920,-1.399,-1.836, PHS= 0.507,-1.039, 0.393, RAW= 146.2,   1.9, CAL= 145.6,   2.0, ROT=   4.4,  -2.0

2025-09-04T18:24:07.652Z,1757010247.652 [DAT](INFO): got valid direction response:
 18:24:05.8183 LVL= 31200, 32753, 32754, 32755, AGC= 69, IDX= 298,-0.37,-1.431,-2.920,-1.399,-1.836, PHS= 0.507,-1.039, 0.393, RAW= 146.2,   1.9, CAL= 145.6,   2.0, ROT=   4.4,  -2.0

2025-09-04T18:24:07.653Z,1757010247.653 [DAT](INFO): DAT read: Bearing 333.1,  19.9 (Local)

2025-09-04T18:24:07.653Z,1757010247.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,  19.9 (Local)

2025-09-04T18:24:07.655Z,1757010247.655 [DAT](INFO): DAT read: Range 11 to 50 : 436.6 m  (Round-trip  582.2 ms) speed  0.7 m/s

2025-09-04T18:24:07.656Z,1757010247.656 [DAT](INFO): DAT read: user:2725>

2025-09-04T18:24:07.657Z,1757010247.657 [DAT](INFO): DAT read: Tx time:18:24:06.9320

2025-09-04T18:24:07.657Z,1757010247.657 [DAT](INFO): Ping request sent.
2025-09-04T18:24:07.657Z,1757010247.657 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:07.657Z,1757010247.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:07.658Z,1757010247.658 [DAT](INFO): direction in FSK: [0.996445,0.076672,0.034899]
2025-09-04T18:24:07.658Z,1757010247.658 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:07.659Z,1757010247.659 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:07.662Z,1757010247.662 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:07.662Z,1757010247.662 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:07.938Z,1757010247.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 436.600006 m,
      deltaT: 4.031047 s,
      deltaX: -2.600006 m,
      approachRate: -0.644995 m/s,
      rangeRepo size: 4

2025-09-04T18:24:07.944Z,1757010247.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.780670 m,
      bearing: 169.926245 deg,
      lat: 36.779364 deg,
      lon: -121.859694 deg,
      deltaT: 4.031047 s,
      deltaX: -2.623322 m,
      approachRate: -0.650779 m/s,
      posRepo size: 4

2025-09-04T18:24:07.945Z,1757010247.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:07.956Z,1757010247.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 417.563385 m,
      bearing: 168.310637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005476 deg/s,
      cmd heading: 164.632680 deg,
      new cmd heading: 164.628352 deg.

2025-09-04T18:24:07.961Z,1757010247.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873307 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:08.306Z,1757010248.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:08.314Z,1757010248.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 417.302704 m,
      bearing: 168.308590 deg,
      approach rate: -0.706698 m/s,
      LOS rate: -0.005553 deg/s,
      cmd heading: 164.628350 deg,
      new cmd heading: 164.624253 deg.

2025-09-04T18:24:08.315Z,1757010248.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873235 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:08.724Z,1757010248.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:08.727Z,1757010248.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 417.033264 m,
      bearing: 168.306492 deg,
      approach rate: -0.650778 m/s,
      LOS rate: -0.005070 deg/s,
      cmd heading: 164.624252 deg,
      new cmd heading: 164.620054 deg.

2025-09-04T18:24:08.733Z,1757010248.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873162 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:09.103Z,1757010249.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:09.106Z,1757010249.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:09.109Z,1757010249.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 416.756989 m,
      bearing: 168.304350 deg,
      approach rate: -0.716772 m/s,
      LOS rate: -0.005560 deg/s,
      cmd heading: 164.620058 deg,
      new cmd heading: 164.615772 deg.

2025-09-04T18:24:09.110Z,1757010249.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.873087 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:09.157Z,1757010249.157 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:09.157Z,1757010249.157 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:09.157Z,1757010249.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:09.412Z,1757010249.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754440
2025-09-04T18:24:09.587Z,1757010249.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:09.590Z,1757010249.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 416.411926 m,
      bearing: 168.300059 deg,
      approach rate: -0.716245 m/s,
      LOS rate: -0.008915 deg/s,
      cmd heading: 164.615769 deg,
      new cmd heading: 164.607179 deg.

2025-09-04T18:24:09.591Z,1757010249.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872937 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:09.661Z,1757010249.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004264
2025-09-04T18:24:09.913Z,1757010249.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256008
2025-09-04T18:24:09.983Z,1757010249.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:09.986Z,1757010249.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 416.138611 m,
      bearing: 168.296671 deg,
      approach rate: -0.689978 m/s,
      LOS rate: -0.008559 deg/s,
      cmd heading: 164.607177 deg,
      new cmd heading: 164.600396 deg.

2025-09-04T18:24:09.987Z,1757010249.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872819 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:10.165Z,1757010250.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508052
2025-09-04T18:24:10.392Z,1757010250.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:10.395Z,1757010250.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 415.846680 m,
      bearing: 168.293095 deg,
      approach rate: -0.744261 m/s,
      LOS rate: -0.009123 deg/s,
      cmd heading: 164.600401 deg,
      new cmd heading: 164.593244 deg.

2025-09-04T18:24:10.395Z,1757010250.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872694 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:10.419Z,1757010250.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761864
2025-09-04T18:24:10.669Z,1757010250.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012238
2025-09-04T18:24:10.782Z,1757010250.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:10.785Z,1757010250.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 415.555542 m,
      bearing: 168.289542 deg,
      approach rate: -0.715975 m/s,
      LOS rate: -0.008742 deg/s,
      cmd heading: 164.593243 deg,
      new cmd heading: 164.586133 deg.

2025-09-04T18:24:10.786Z,1757010250.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872570 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:10.921Z,1757010250.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264173
2025-09-04T18:24:11.173Z,1757010251.173 [DAT](INFO): DAT read: Rx Time:18:24:09.9148

2025-09-04T18:24:11.173Z,1757010251.173 [DAT](INFO): Rx dataTimestamp_ set to:1757010251.173189
2025-09-04T18:24:11.174Z,1757010251.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516994
2025-09-04T18:24:11.177Z,1757010251.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:24:11.283Z,1757010251.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:11.285Z,1757010251.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:11.288Z,1757010251.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 415.202087 m,
      bearing: 168.285272 deg,
      approach rate: -0.703363 m/s,
      LOS rate: -0.008506 deg/s,
      cmd heading: 164.586140 deg,
      new cmd heading: 164.577591 deg.

2025-09-04T18:24:11.289Z,1757010251.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872421 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:11.445Z,1757010251.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786409
2025-09-04T18:24:11.649Z,1757010251.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.78 m.
2025-09-04T18:24:11.653Z,1757010251.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.780670 m,
      nav range: 414.949890 m,
      bearing: 168.281693 deg,
      approach rate: -0.691907 m/s,
      LOS rate: -0.009824 deg/s,
      cmd heading: 164.577588 deg,
      new cmd heading: 164.570427 deg.

2025-09-04T18:24:11.654Z,1757010251.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872296 target range: 434.780670 and range: 436.60 m.
2025-09-04T18:24:11.688Z,1757010251.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030296
2025-09-04T18:24:11.935Z,1757010251.935 [DAT](INFO): DAT read: 18:24:09.9148 LVL= 30752, 32753, 32754, 32755, AGC= 73, IDX= 402,-0.12,-0.518,-1.807,-0.403,-1.299, PHS= 0.884,-0.462, 0.852, RAW= 148.8, -18.7, CAL= 150.7, -21.1, ROT= 359.3,  21.1

2025-09-04T18:24:11.937Z,1757010251.937 [DAT](INFO): got valid direction response:
 18:24:09.9148 LVL= 30752, 32753, 32754, 32755, AGC= 73, IDX= 402,-0.12,-0.518,-1.807,-0.403,-1.299, PHS= 0.884,-0.462, 0.852, RAW= 148.8, -18.7, CAL= 150.7, -21.1, ROT= 359.3,  21.1

2025-09-04T18:24:11.937Z,1757010251.937 [DAT](INFO): DAT read: Bearing 308.8,  14.4 (Local)

2025-09-04T18:24:11.938Z,1757010251.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.8,  14.4 (Local)

2025-09-04T18:24:11.939Z,1757010251.939 [DAT](INFO): DAT read: Range 11 to 50 : 434.0 m  (Round-trip  578.7 ms) speed  0.8 m/s

2025-09-04T18:24:11.940Z,1757010251.940 [DAT](INFO): DAT read: user:2726>

2025-09-04T18:24:11.941Z,1757010251.941 [DAT](INFO): DAT read: Tx time:18:24:11.0320

2025-09-04T18:24:11.941Z,1757010251.941 [DAT](INFO): Ping request sent.
2025-09-04T18:24:11.941Z,1757010251.941 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:11.941Z,1757010251.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:11.942Z,1757010251.942 [DAT](INFO): direction in FSK: [0.932884,-0.011398,-0.359997]
2025-09-04T18:24:11.943Z,1757010251.943 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:11.943Z,1757010251.943 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:11.946Z,1757010251.946 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:11.946Z,1757010251.946 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:12.093Z,1757010252.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 434.000000 m,
      deltaT: 4.284001 s,
      deltaX: -2.600006 m,
      approachRate: -0.606911 m/s,
      rangeRepo size: 4

2025-09-04T18:24:12.095Z,1757010252.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 432.189392 m,
      bearing: 163.688198 deg,
      lat: 36.779364 deg,
      lon: -121.859694 deg,
      deltaT: 4.284001 s,
      deltaX: -2.591278 m,
      approachRate: -0.604873 m/s,
      posRepo size: 4

2025-09-04T18:24:12.104Z,1757010252.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:12.107Z,1757010252.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 414.671722 m,
      bearing: 168.277829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009824 deg/s,
      cmd heading: 164.570430 deg,
      new cmd heading: 164.561888 deg.

2025-09-04T18:24:12.108Z,1757010252.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872147 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:12.186Z,1757010252.186 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:24:12.454Z,1757010252.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:12.457Z,1757010252.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 414.418213 m,
      bearing: 168.274319 deg,
      approach rate: -0.685784 m/s,
      LOS rate: -0.009500 deg/s,
      cmd heading: 164.561892 deg,
      new cmd heading: 164.554869 deg.

2025-09-04T18:24:12.459Z,1757010252.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.872024 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:12.850Z,1757010252.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:12.853Z,1757010252.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 414.136292 m,
      bearing: 168.270452 deg,
      approach rate: -0.711481 m/s,
      LOS rate: -0.009765 deg/s,
      cmd heading: 164.554871 deg,
      new cmd heading: 164.547132 deg.

2025-09-04T18:24:12.854Z,1757010252.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871889 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:13.321Z,1757010253.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:13.324Z,1757010253.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:13.335Z,1757010253.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 413.831055 m,
      bearing: 168.266335 deg,
      approach rate: -0.644682 m/s,
      LOS rate: -0.008702 deg/s,
      cmd heading: 164.547125 deg,
      new cmd heading: 164.538885 deg.

2025-09-04T18:24:13.345Z,1757010253.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871745 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:13.443Z,1757010253.443 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:13.443Z,1757010253.443 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:13.444Z,1757010253.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:13.695Z,1757010253.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753945
2025-09-04T18:24:13.816Z,1757010253.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:13.819Z,1757010253.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 413.474121 m,
      bearing: 168.262002 deg,
      approach rate: -0.725012 m/s,
      LOS rate: -0.008809 deg/s,
      cmd heading: 164.538888 deg,
      new cmd heading: 164.530215 deg.

2025-09-04T18:24:13.821Z,1757010253.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871594 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:13.945Z,1757010253.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003827
2025-09-04T18:24:14.198Z,1757010254.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256521
2025-09-04T18:24:14.250Z,1757010254.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:14.276Z,1757010254.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 413.173920 m,
      bearing: 168.258394 deg,
      approach rate: -0.690892 m/s,
      LOS rate: -0.008309 deg/s,
      cmd heading: 164.530214 deg,
      new cmd heading: 164.522993 deg.

2025-09-04T18:24:14.277Z,1757010254.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871468 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:14.453Z,1757010254.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511855
2025-09-04T18:24:14.665Z,1757010254.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:14.667Z,1757010254.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 412.897827 m,
      bearing: 168.255124 deg,
      approach rate: -0.666465 m/s,
      LOS rate: -0.007900 deg/s,
      cmd heading: 164.522988 deg,
      new cmd heading: 164.516442 deg.

2025-09-04T18:24:14.669Z,1757010254.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871354 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:14.705Z,1757010254.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764060
2025-09-04T18:24:14.957Z,1757010254.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015811
2025-09-04T18:24:15.060Z,1757010255.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:15.063Z,1757010255.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 412.613220 m,
      bearing: 168.251817 deg,
      approach rate: -0.719771 m/s,
      LOS rate: -0.008369 deg/s,
      cmd heading: 164.516444 deg,
      new cmd heading: 164.509826 deg.

2025-09-04T18:24:15.064Z,1757010255.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871238 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:15.212Z,1757010255.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271101
2025-09-04T18:24:15.461Z,1757010255.461 [DAT](INFO): DAT read: Rx Time:18:24:14.0000

2025-09-04T18:24:15.462Z,1757010255.462 [DAT](INFO): Rx dataTimestamp_ set to:1757010255.461227
2025-09-04T18:24:15.462Z,1757010255.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520892
2025-09-04T18:24:15.547Z,1757010255.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:15.549Z,1757010255.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:15.552Z,1757010255.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 412.265656 m,
      bearing: 168.247259 deg,
      approach rate: -0.710434 m/s,
      LOS rate: -0.009324 deg/s,
      cmd heading: 164.509819 deg,
      new cmd heading: 164.500696 deg.

2025-09-04T18:24:15.553Z,1757010255.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.871079 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:15.713Z,1757010255.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772013
2025-09-04T18:24:15.921Z,1757010255.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.19 m.
2025-09-04T18:24:15.925Z,1757010255.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.189392 m,
      nav range: 412.000519 m,
      bearing: 168.243829 deg,
      approach rate: -0.713069 m/s,
      LOS rate: -0.009231 deg/s,
      cmd heading: 164.500694 deg,
      new cmd heading: 164.493829 deg.

2025-09-04T18:24:15.926Z,1757010255.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870959 target range: 432.189392 and range: 434.00 m.
2025-09-04T18:24:15.971Z,1757010255.971 [DAT](INFO): DAT read: 18:24:14.0000 LVL= 24960, 32753, 30290, 32755, AGC= 74, IDX= 282,-0.23, 1.087,-0.490, 1.103, 0.766, PHS= 0.423,-1.211, 0.293, RAW= 145.9,   6.3, CAL= 145.4,   6.9, ROT=   4.6,  -6.9

2025-09-04T18:24:15.972Z,1757010255.972 [DAT](INFO): got valid direction response:
 18:24:14.0000 LVL= 24960, 32753, 30290, 32755, AGC= 74, IDX= 282,-0.23, 1.087,-0.490, 1.103, 0.766, PHS= 0.423,-1.211, 0.293, RAW= 145.9,   6.3, CAL= 145.4,   6.9, ROT=   4.6,  -6.9

2025-09-04T18:24:15.973Z,1757010255.973 [DAT](INFO): DAT read: Bearing 336.9,  16.6 (Local)

2025-09-04T18:24:15.974Z,1757010255.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.9,  16.6 (Local)

2025-09-04T18:24:15.975Z,1757010255.975 [DAT](INFO): DAT read: Range 11 to 50 : 422.8 m  (Round-trip  563.8 ms) speed  0.5 m/s

2025-09-04T18:24:15.976Z,1757010255.976 [DAT](INFO): DAT read: user:2727>

2025-09-04T18:24:15.977Z,1757010255.977 [DAT](INFO): DAT read: Tx time:18:24:15.1320

2025-09-04T18:24:15.977Z,1757010255.977 [DAT](INFO): Ping request sent.
2025-09-04T18:24:15.977Z,1757010255.977 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:15.978Z,1757010255.978 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:15.978Z,1757010255.978 [DAT](INFO): direction in FSK: [0.989560,0.079618,0.120137]
2025-09-04T18:24:15.979Z,1757010255.979 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:15.979Z,1757010255.979 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:15.982Z,1757010255.982 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:15.982Z,1757010255.982 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:16.342Z,1757010256.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 422.799988 m,
      deltaT: 4.036110 s,
      deltaX: -11.200012 m,
      approachRate: -2.774952 m/s,
      rangeRepo size: 4

2025-09-04T18:24:16.344Z,1757010256.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.037079 m,
      bearing: 169.335346 deg,
      lat: 36.779389 deg,
      lon: -121.859736 deg,
      deltaT: 4.036110 s,
      deltaX: -11.152313 m,
      approachRate: -2.763134 m/s,
      posRepo size: 4

2025-09-04T18:24:16.345Z,1757010256.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:16.347Z,1757010256.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 408.289062 m,
      bearing: 168.669752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009231 deg/s,
      cmd heading: 164.493823 deg,
      new cmd heading: 164.486070 deg.

2025-09-04T18:24:16.349Z,1757010256.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870823 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:16.753Z,1757010256.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:16.756Z,1757010256.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 408.003906 m,
      bearing: 168.666373 deg,
      approach rate: -0.692685 m/s,
      LOS rate: -0.008214 deg/s,
      cmd heading: 164.486064 deg,
      new cmd heading: 164.479301 deg.

2025-09-04T18:24:16.757Z,1757010256.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870705 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:17.164Z,1757010257.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:17.171Z,1757010257.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 407.708862 m,
      bearing: 168.662872 deg,
      approach rate: -0.718978 m/s,
      LOS rate: -0.008538 deg/s,
      cmd heading: 164.479302 deg,
      new cmd heading: 164.472294 deg.

2025-09-04T18:24:17.172Z,1757010257.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870583 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:17.565Z,1757010257.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:17.567Z,1757010257.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:17.570Z,1757010257.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 407.410858 m,
      bearing: 168.660309 deg,
      approach rate: -0.737036 m/s,
      LOS rate: -0.006344 deg/s,
      cmd heading: 164.472294 deg,
      new cmd heading: 164.467164 deg.

2025-09-04T18:24:17.571Z,1757010257.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870493 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:17.729Z,1757010257.729 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:17.729Z,1757010257.729 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:17.729Z,1757010257.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:17.965Z,1757010257.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:17.968Z,1757010257.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 407.139618 m,
      bearing: 168.657982 deg,
      approach rate: -0.682075 m/s,
      LOS rate: -0.005856 deg/s,
      cmd heading: 164.467158 deg,
      new cmd heading: 164.462500 deg.

2025-09-04T18:24:17.969Z,1757010257.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870412 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:17.981Z,1757010257.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003812
2025-09-04T18:24:18.236Z,1757010258.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258543
2025-09-04T18:24:18.406Z,1757010258.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:18.409Z,1757010258.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 406.845062 m,
      bearing: 168.655462 deg,
      approach rate: -0.668560 m/s,
      LOS rate: -0.005723 deg/s,
      cmd heading: 164.462499 deg,
      new cmd heading: 164.457456 deg.

2025-09-04T18:24:18.411Z,1757010258.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870324 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:18.490Z,1757010258.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512808
2025-09-04T18:24:18.741Z,1757010258.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763818
2025-09-04T18:24:18.751Z,1757010258.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:18.754Z,1757010258.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 406.568512 m,
      bearing: 168.653090 deg,
      approach rate: -0.801372 m/s,
      LOS rate: -0.006877 deg/s,
      cmd heading: 164.457459 deg,
      new cmd heading: 164.452712 deg.

2025-09-04T18:24:18.755Z,1757010258.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870241 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:18.994Z,1757010258.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016657
2025-09-04T18:24:19.245Z,1757010259.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267859
2025-09-04T18:24:19.282Z,1757010259.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:19.285Z,1757010259.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 406.187134 m,
      bearing: 168.649799 deg,
      approach rate: -0.718561 m/s,
      LOS rate: -0.006206 deg/s,
      cmd heading: 164.452719 deg,
      new cmd heading: 164.446131 deg.

2025-09-04T18:24:19.286Z,1757010259.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870126 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:19.498Z,1757010259.498 [DAT](INFO): DAT read: Rx Time:18:24:18.0961

2025-09-04T18:24:19.499Z,1757010259.499 [DAT](INFO): Rx dataTimestamp_ set to:1757010259.498225
2025-09-04T18:24:19.499Z,1757010259.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522158
2025-09-04T18:24:19.749Z,1757010259.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772000
2025-09-04T18:24:19.819Z,1757010259.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:19.837Z,1757010259.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.04 m.
2025-09-04T18:24:19.844Z,1757010259.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.037079 m,
      nav range: 405.803589 m,
      bearing: 168.648213 deg,
      approach rate: -0.690587 m/s,
      LOS rate: -0.002859 deg/s,
      cmd heading: 164.446134 deg,
      new cmd heading: 164.442959 deg.

2025-09-04T18:24:19.845Z,1757010259.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870071 target range: 421.037079 and range: 422.80 m.
2025-09-04T18:24:20.007Z,1757010260.007 [DAT](INFO): DAT read: 18:24:18.0961 LVL= 26352, 32753, 31074, 32755, AGC= 75, IDX= 403, 0.49,-2.135, 2.411,-2.117,-2.516, PHS= 0.483,-1.311, 0.355, RAW= 146.3,   5.5, CAL= 145.8,   5.9, ROT=   4.2,  -5.9

2025-09-04T18:24:20.008Z,1757010260.008 [DAT](INFO): got valid direction response:
 18:24:18.0961 LVL= 26352, 32753, 31074, 32755, AGC= 75, IDX= 403, 0.49,-2.135, 2.411,-2.117,-2.516, PHS= 0.483,-1.311, 0.355, RAW= 146.3,   5.5, CAL= 145.8,   5.9, ROT=   4.2,  -5.9

2025-09-04T18:24:20.009Z,1757010260.009 [DAT](INFO): DAT read: Bearing 335.7,  12.2 (Local)

2025-09-04T18:24:20.010Z,1757010260.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.7,  12.2 (Local)

2025-09-04T18:24:20.020Z,1757010260.020 [DAT](INFO): DAT read: Range 11 to 50 : 420.0 m  (Round-trip  560.0 ms) speed  0.6 m/s

2025-09-04T18:24:20.021Z,1757010260.021 [DAT](INFO): DAT read: user:2728>

2025-09-04T18:24:20.022Z,1757010260.022 [DAT](INFO): DAT read: Tx time:18:24:19.2320

2025-09-04T18:24:20.022Z,1757010260.022 [DAT](INFO): Ping request sent.
2025-09-04T18:24:20.022Z,1757010260.022 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:20.022Z,1757010260.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:20.023Z,1757010260.023 [DAT](INFO): direction in FSK: [0.992032,0.072850,0.102793]
2025-09-04T18:24:20.024Z,1757010260.024 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:20.024Z,1757010260.024 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:20.027Z,1757010260.027 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:20.027Z,1757010260.027 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:20.350Z,1757010260.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 420.000000 m,
      deltaT: 4.036005 s,
      deltaX: -2.799988 m,
      approachRate: -0.693752 m/s,
      rangeRepo size: 4

2025-09-04T18:24:20.352Z,1757010260.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 418.248047 m,
      bearing: 168.813524 deg,
      lat: 36.779371 deg,
      lon: -121.859745 deg,
      deltaT: 4.036005 s,
      deltaX: -2.789032 m,
      approachRate: -0.691038 m/s,
      posRepo size: 4

2025-09-04T18:24:20.353Z,1757010260.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:20.356Z,1757010260.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 407.175385 m,
      bearing: 168.813003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002859 deg/s,
      cmd heading: 164.442965 deg,
      new cmd heading: 164.440042 deg.

2025-09-04T18:24:20.357Z,1757010260.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.870020 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:20.760Z,1757010260.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:20.763Z,1757010260.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 406.889465 m,
      bearing: 168.811889 deg,
      approach rate: -0.694835 m/s,
      LOS rate: -0.002709 deg/s,
      cmd heading: 164.440042 deg,
      new cmd heading: 164.437813 deg.

2025-09-04T18:24:20.764Z,1757010260.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869981 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:21.140Z,1757010261.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:21.143Z,1757010261.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 406.603424 m,
      bearing: 168.810738 deg,
      approach rate: -0.752182 m/s,
      LOS rate: -0.003030 deg/s,
      cmd heading: 164.437815 deg,
      new cmd heading: 164.435511 deg.

2025-09-04T18:24:21.144Z,1757010261.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869941 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:21.570Z,1757010261.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:21.573Z,1757010261.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 406.296661 m,
      bearing: 168.809451 deg,
      approach rate: -0.713342 m/s,
      LOS rate: -0.002993 deg/s,
      cmd heading: 164.435507 deg,
      new cmd heading: 164.432932 deg.

2025-09-04T18:24:21.574Z,1757010261.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869896 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:21.946Z,1757010261.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:21.949Z,1757010261.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:21.951Z,1757010261.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 406.026733 m,
      bearing: 168.808301 deg,
      approach rate: -0.712728 m/s,
      LOS rate: -0.003040 deg/s,
      cmd heading: 164.432938 deg,
      new cmd heading: 164.430636 deg.

2025-09-04T18:24:21.953Z,1757010261.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869856 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:22.021Z,1757010262.021 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:22.021Z,1757010262.021 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:22.022Z,1757010262.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:22.273Z,1757010262.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251108
2025-09-04T18:24:22.374Z,1757010262.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:22.381Z,1757010262.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 405.734894 m,
      bearing: 168.807040 deg,
      approach rate: -0.686407 m/s,
      LOS rate: -0.002968 deg/s,
      cmd heading: 164.430630 deg,
      new cmd heading: 164.428106 deg.

2025-09-04T18:24:22.382Z,1757010262.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869812 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:22.525Z,1757010262.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502799
2025-09-04T18:24:22.777Z,1757010262.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755187
2025-09-04T18:24:22.880Z,1757010262.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:22.883Z,1757010262.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 405.360809 m,
      bearing: 168.805376 deg,
      approach rate: -0.739042 m/s,
      LOS rate: -0.003289 deg/s,
      cmd heading: 164.428103 deg,
      new cmd heading: 164.424773 deg.

2025-09-04T18:24:22.884Z,1757010262.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869754 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:23.029Z,1757010263.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007102
2025-09-04T18:24:23.264Z,1757010263.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:23.267Z,1757010263.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 405.086365 m,
      bearing: 168.804146 deg,
      approach rate: -0.714837 m/s,
      LOS rate: -0.003206 deg/s,
      cmd heading: 164.424769 deg,
      new cmd heading: 164.422308 deg.

2025-09-04T18:24:23.281Z,1757010263.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258926
2025-09-04T18:24:23.288Z,1757010263.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869711 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:23.533Z,1757010263.533 [DAT](INFO): DAT read: Rx Time:18:24:22.2036

2025-09-04T18:24:23.534Z,1757010263.534 [DAT](INFO): Rx dataTimestamp_ set to:1757010263.533268
2025-09-04T18:24:23.534Z,1757010263.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511964
2025-09-04T18:24:23.785Z,1757010263.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763022
2025-09-04T18:24:23.796Z,1757010263.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.25 m.
2025-09-04T18:24:23.799Z,1757010263.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.248047 m,
      nav range: 404.705475 m,
      bearing: 168.801703 deg,
      approach rate: -0.716521 m/s,
      LOS rate: -0.004601 deg/s,
      cmd heading: 164.422311 deg,
      new cmd heading: 164.417419 deg.

2025-09-04T18:24:23.800Z,1757010263.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869625 target range: 418.248047 and range: 420.00 m.
2025-09-04T18:24:24.043Z,1757010264.043 [DAT](INFO): DAT read: 18:24:22.2036 LVL= 27440, 32753, 29298, 32755, AGC= 72, IDX= 393, 0.29, 1.880, 0.108, 1.935, 1.535, PHS= 0.446,-1.382, 0.356, RAW= 147.5,   6.6, CAL= 147.0,   7.0, ROT=   3.0,  -7.0

2025-09-04T18:24:24.044Z,1757010264.044 [DAT](INFO): got valid direction response:
 18:24:22.2036 LVL= 27440, 32753, 29298, 32755, AGC= 72, IDX= 393, 0.29, 1.880, 0.108, 1.935, 1.535, PHS= 0.446,-1.382, 0.356, RAW= 147.5,   6.6, CAL= 147.0,   7.0, ROT=   3.0,  -7.0

2025-09-04T18:24:24.045Z,1757010264.045 [DAT](INFO): DAT read: Bearing 336.9,   8.1 (Local)

2025-09-04T18:24:24.045Z,1757010264.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.9,   8.1 (Local)

2025-09-04T18:24:24.047Z,1757010264.047 [DAT](INFO): DAT read: Range 11 to 50 : 425.5 m  (Round-trip  567.4 ms) speed  0.7 m/s

2025-09-04T18:24:24.048Z,1757010264.048 [DAT](INFO): DAT read: user:2729>

2025-09-04T18:24:24.049Z,1757010264.049 [DAT](INFO): DAT read: Tx time:18:24:23.3320

2025-09-04T18:24:24.049Z,1757010264.049 [DAT](INFO): Ping request sent.
2025-09-04T18:24:24.049Z,1757010264.049 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:24.049Z,1757010264.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:24.050Z,1757010264.050 [DAT](INFO): direction in FSK: [0.991186,0.051946,0.121869]
2025-09-04T18:24:24.051Z,1757010264.051 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:24.051Z,1757010264.051 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:24.054Z,1757010264.054 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:24.054Z,1757010264.054 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:24.244Z,1757010264.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 425.500000 m,
      deltaT: 4.035842 s,
      deltaX: 5.500000 m,
      approachRate: 1.362789 m/s,
      rangeRepo size: 4

2025-09-04T18:24:24.256Z,1757010264.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 423.725891 m,
      bearing: 167.835363 deg,
      lat: 36.779364 deg,
      lon: -121.859745 deg,
      deltaT: 4.035842 s,
      deltaX: 5.477844 m,
      approachRate: 1.357299 m/s,
      posRepo size: 4

2025-09-04T18:24:24.257Z,1757010264.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:24.276Z,1757010264.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 405.159180 m,
      bearing: 168.821206 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004601 deg/s,
      cmd heading: 164.417420 deg,
      new cmd heading: 164.413301 deg.

2025-09-04T18:24:24.277Z,1757010264.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869553 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:24.634Z,1757010264.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:24.657Z,1757010264.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:24.671Z,1757010264.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 404.874420 m,
      bearing: 168.819389 deg,
      approach rate: -0.724828 m/s,
      LOS rate: -0.004628 deg/s,
      cmd heading: 164.413295 deg,
      new cmd heading: 164.409658 deg.

2025-09-04T18:24:24.680Z,1757010264.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869490 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:24.793Z,1757010264.793 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:24.793Z,1757010264.793 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:24.793Z,1757010264.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:25.045Z,1757010265.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996330
2025-09-04T18:24:25.047Z,1757010265.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:25.050Z,1757010265.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 404.580841 m,
      bearing: 168.817521 deg,
      approach rate: -0.714409 m/s,
      LOS rate: -0.004548 deg/s,
      cmd heading: 164.409661 deg,
      new cmd heading: 164.405923 deg.

2025-09-04T18:24:25.051Z,1757010265.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869425 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:25.297Z,1757010265.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248078
2025-09-04T18:24:25.545Z,1757010265.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:25.547Z,1757010265.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 404.220428 m,
      bearing: 168.813271 deg,
      approach rate: -0.724081 m/s,
      LOS rate: -0.008547 deg/s,
      cmd heading: 164.405918 deg,
      new cmd heading: 164.397409 deg.

2025-09-04T18:24:25.549Z,1757010265.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500088
2025-09-04T18:24:25.550Z,1757010265.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869276 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:25.801Z,1757010265.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752050
2025-09-04T18:24:25.902Z,1757010265.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:25.906Z,1757010265.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 403.963074 m,
      bearing: 168.810233 deg,
      approach rate: -0.719549 m/s,
      LOS rate: -0.008499 deg/s,
      cmd heading: 164.397408 deg,
      new cmd heading: 164.391328 deg.

2025-09-04T18:24:25.907Z,1757010265.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869170 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:26.053Z,1757010266.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004083
2025-09-04T18:24:26.286Z,1757010266.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:26.289Z,1757010266.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 403.686981 m,
      bearing: 168.806951 deg,
      approach rate: -0.720451 m/s,
      LOS rate: -0.008569 deg/s,
      cmd heading: 164.391329 deg,
      new cmd heading: 164.384761 deg.

2025-09-04T18:24:26.289Z,1757010266.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.869055 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:26.305Z,1757010266.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256035
2025-09-04T18:24:26.557Z,1757010266.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508153
2025-09-04T18:24:26.708Z,1757010266.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:26.710Z,1757010266.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:26.713Z,1757010266.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 403.393494 m,
      bearing: 168.803450 deg,
      approach rate: -0.691403 m/s,
      LOS rate: -0.008254 deg/s,
      cmd heading: 164.384758 deg,
      new cmd heading: 164.377751 deg.

2025-09-04T18:24:26.714Z,1757010266.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868933 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:26.809Z,1757010266.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760089
2025-09-04T18:24:27.061Z,1757010267.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011942
2025-09-04T18:24:27.099Z,1757010267.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:27.103Z,1757010267.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 403.102631 m,
      bearing: 168.799983 deg,
      approach rate: -0.747526 m/s,
      LOS rate: -0.008918 deg/s,
      cmd heading: 164.377750 deg,
      new cmd heading: 164.370810 deg.

2025-09-04T18:24:27.104Z,1757010267.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868812 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:27.313Z,1757010267.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264448
2025-09-04T18:24:27.540Z,1757010267.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:27.545Z,1757010267.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 402.782227 m,
      bearing: 168.796682 deg,
      approach rate: -0.726642 m/s,
      LOS rate: -0.007490 deg/s,
      cmd heading: 164.370811 deg,
      new cmd heading: 164.364205 deg.

2025-09-04T18:24:27.551Z,1757010267.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868696 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:27.568Z,1757010267.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517964
2025-09-04T18:24:27.823Z,1757010267.823 [DAT](INFO): DAT read: 18:24:26.2996 LVL= 19904, 26817, 20386, 31427, AGC= 67, IDX= 407,-0.11, 1.362,-0.166, 1.414, 0.731, PHS= 0.733,-0.851, 0.639, RAW= 147.0,  -6.8, CAL= 147.0,  -8.2, ROT=   3.0,   8.2

2025-09-04T18:24:27.824Z,1757010267.824 [DAT](INFO): got valid direction response:
 18:24:26.2996 LVL= 19904, 26817, 20386, 31427, AGC= 67, IDX= 407,-0.11, 1.362,-0.166, 1.414, 0.731, PHS= 0.733,-0.851, 0.639, RAW= 147.0,  -6.8, CAL= 147.0,  -8.2, ROT=   3.0,   8.2

2025-09-04T18:24:27.825Z,1757010267.825 [DAT](INFO): DAT read: Rx Time:18:24:26.2996

2025-09-04T18:24:27.825Z,1757010267.825 [DAT](INFO): Rx dataTimestamp_ set to:1757010267.824717
2025-09-04T18:24:27.826Z,1757010267.826 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-04T18:24:27.826Z,1757010267.826 [DAT](INFO): Received low SNR in chirp
2025-09-04T18:24:27.841Z,1757010267.841 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:24:27.842Z,1757010267.842 [DAT](INFO): direction in FSK: [0.988420,0.051801,-0.142629]
2025-09-04T18:24:27.845Z,1757010267.845 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:27.845Z,1757010267.845 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:27.845Z,1757010267.845 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:28.018Z,1757010268.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:28.026Z,1757010268.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 402.435577 m,
      bearing: 168.793080 deg,
      approach rate: -0.724686 m/s,
      LOS rate: -0.007537 deg/s,
      cmd heading: 164.364199 deg,
      new cmd heading: 164.356988 deg.

2025-09-04T18:24:28.027Z,1757010268.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868571 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:28.069Z,1757010268.069 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:28.069Z,1757010268.069 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:28.069Z,1757010268.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:28.321Z,1757010268.321 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:28.321Z,1757010268.321 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:28.321Z,1757010268.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:28.442Z,1757010268.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:28.445Z,1757010268.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 402.128326 m,
      bearing: 168.789872 deg,
      approach rate: -0.725475 m/s,
      LOS rate: -0.007581 deg/s,
      cmd heading: 164.356987 deg,
      new cmd heading: 164.350565 deg.

2025-09-04T18:24:28.446Z,1757010268.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868459 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:28.573Z,1757010268.573 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:28.573Z,1757010268.573 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:28.573Z,1757010268.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:28.827Z,1757010268.827 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:28.827Z,1757010268.827 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:28.827Z,1757010268.827 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:28.875Z,1757010268.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:28.881Z,1757010268.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:28.889Z,1757010268.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 401.819336 m,
      bearing: 168.786648 deg,
      approach rate: -0.703058 m/s,
      LOS rate: -0.007340 deg/s,
      cmd heading: 164.350566 deg,
      new cmd heading: 164.344115 deg.

2025-09-04T18:24:28.890Z,1757010268.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868346 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:29.077Z,1757010269.077 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:29.077Z,1757010269.077 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:29.077Z,1757010269.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:29.267Z,1757010269.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:29.270Z,1757010269.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 401.543915 m,
      bearing: 168.783756 deg,
      approach rate: -0.714298 m/s,
      LOS rate: -0.007507 deg/s,
      cmd heading: 164.344119 deg,
      new cmd heading: 164.338330 deg.

2025-09-04T18:24:29.271Z,1757010269.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868245 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:29.330Z,1757010269.330 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:29.330Z,1757010269.330 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:29.330Z,1757010269.330 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:29.581Z,1757010269.581 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:29.581Z,1757010269.581 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:29.581Z,1757010269.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:29.711Z,1757010269.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:29.714Z,1757010269.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 401.210083 m,
      bearing: 168.780403 deg,
      approach rate: -0.751763 m/s,
      LOS rate: -0.007556 deg/s,
      cmd heading: 164.338327 deg,
      new cmd heading: 164.331616 deg.

2025-09-04T18:24:29.715Z,1757010269.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868128 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:29.833Z,1757010269.833 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:29.833Z,1757010269.833 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:29.833Z,1757010269.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:30.058Z,1757010270.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:30.061Z,1757010270.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 400.960602 m,
      bearing: 168.777887 deg,
      approach rate: -0.719418 m/s,
      LOS rate: -0.007262 deg/s,
      cmd heading: 164.331619 deg,
      new cmd heading: 164.326583 deg.

2025-09-04T18:24:30.062Z,1757010270.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.868040 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:30.085Z,1757010270.085 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:30.085Z,1757010270.085 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:30.085Z,1757010270.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:30.337Z,1757010270.337 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:30.337Z,1757010270.337 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:30.337Z,1757010270.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:30.479Z,1757010270.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:30.483Z,1757010270.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 400.667236 m,
      bearing: 168.774934 deg,
      approach rate: -0.697342 m/s,
      LOS rate: -0.007024 deg/s,
      cmd heading: 164.326579 deg,
      new cmd heading: 164.320669 deg.

2025-09-04T18:24:30.486Z,1757010270.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867937 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:30.589Z,1757010270.589 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:30.589Z,1757010270.589 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:30.589Z,1757010270.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:30.841Z,1757010270.841 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:30.841Z,1757010270.841 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:30.841Z,1757010270.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:30.868Z,1757010270.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:30.871Z,1757010270.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 400.376068 m,
      bearing: 168.772007 deg,
      approach rate: -0.748289 m/s,
      LOS rate: -0.007527 deg/s,
      cmd heading: 164.320664 deg,
      new cmd heading: 164.314806 deg.

2025-09-04T18:24:30.872Z,1757010270.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867834 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:31.093Z,1757010271.093 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:31.093Z,1757010271.093 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:31.093Z,1757010271.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:31.273Z,1757010271.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:31.275Z,1757010271.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:31.278Z,1757010271.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 400.083435 m,
      bearing: 168.769054 deg,
      approach rate: -0.718866 m/s,
      LOS rate: -0.007261 deg/s,
      cmd heading: 164.314803 deg,
      new cmd heading: 164.308892 deg.

2025-09-04T18:24:31.279Z,1757010271.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867731 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:31.345Z,1757010271.345 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:31.345Z,1757010271.345 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:31.345Z,1757010271.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:31.597Z,1757010271.597 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:31.597Z,1757010271.597 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:31.597Z,1757010271.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:31.726Z,1757010271.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:31.729Z,1757010271.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 399.757782 m,
      bearing: 168.766306 deg,
      approach rate: -0.722407 m/s,
      LOS rate: -0.006100 deg/s,
      cmd heading: 164.308888 deg,
      new cmd heading: 164.303389 deg.

2025-09-04T18:24:31.730Z,1757010271.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867635 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:31.849Z,1757010271.849 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:31.849Z,1757010271.849 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:31.849Z,1757010271.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:32.085Z,1757010272.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:32.088Z,1757010272.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 399.499084 m,
      bearing: 168.764134 deg,
      approach rate: -0.720271 m/s,
      LOS rate: -0.006052 deg/s,
      cmd heading: 164.303383 deg,
      new cmd heading: 164.299036 deg.

2025-09-04T18:24:32.089Z,1757010272.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867559 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:32.101Z,1757010272.101 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:32.101Z,1757010272.101 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:32.101Z,1757010272.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:32.353Z,1757010272.353 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:32.353Z,1757010272.353 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:32.353Z,1757010272.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:32.558Z,1757010272.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:32.561Z,1757010272.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 399.156189 m,
      bearing: 168.761265 deg,
      approach rate: -0.724644 m/s,
      LOS rate: -0.006068 deg/s,
      cmd heading: 164.299039 deg,
      new cmd heading: 164.293297 deg.

2025-09-04T18:24:32.562Z,1757010272.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867459 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:32.605Z,1757010272.605 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:32.605Z,1757010272.605 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:32.605Z,1757010272.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:32.857Z,1757010272.857 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:32.857Z,1757010272.857 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:32.857Z,1757010272.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:32.971Z,1757010272.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:32.975Z,1757010272.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 398.858856 m,
      bearing: 168.758780 deg,
      approach rate: -0.719760 m/s,
      LOS rate: -0.006021 deg/s,
      cmd heading: 164.293302 deg,
      new cmd heading: 164.288327 deg.

2025-09-04T18:24:32.976Z,1757010272.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867372 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:33.109Z,1757010273.109 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:33.109Z,1757010273.109 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:33.109Z,1757010273.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:33.359Z,1757010273.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:33.361Z,1757010273.361 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:33.361Z,1757010273.361 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:33.361Z,1757010273.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:33.363Z,1757010273.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:33.366Z,1757010273.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 398.576660 m,
      bearing: 168.756418 deg,
      approach rate: -0.720129 m/s,
      LOS rate: -0.006032 deg/s,
      cmd heading: 164.288330 deg,
      new cmd heading: 164.283602 deg.

2025-09-04T18:24:33.367Z,1757010273.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867290 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:33.615Z,1757010273.615 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:33.615Z,1757010273.615 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:33.615Z,1757010273.615 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:33.748Z,1757010273.748 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 449
Device respsone is::TS,00031122120487,35.,   0.0,1497.0,    0.00, 449.19, 477.95, 537.70, 396.,   +62,  -704,    +9,   -16,A
2025-09-04T18:24:33.766Z,1757010273.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:33.768Z,1757010273.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 398.284393 m,
      bearing: 168.753929 deg,
      approach rate: -0.725838 m/s,
      LOS rate: -0.006186 deg/s,
      cmd heading: 164.283603 deg,
      new cmd heading: 164.278621 deg.

2025-09-04T18:24:33.769Z,1757010273.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867203 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:33.865Z,1757010273.865 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:33.865Z,1757010273.865 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:33.865Z,1757010273.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:24:34.118Z,1757010274.118 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:34.119Z,1757010274.119 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:34.119Z,1757010274.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:34.187Z,1757010274.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:34.202Z,1757010274.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 397.980469 m,
      bearing: 168.751326 deg,
      approach rate: -0.721788 m/s,
      LOS rate: -0.006187 deg/s,
      cmd heading: 164.278617 deg,
      new cmd heading: 164.273407 deg.

2025-09-04T18:24:34.203Z,1757010274.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867112 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:34.369Z,1757010274.369 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:34.369Z,1757010274.369 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:34.369Z,1757010274.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:34.560Z,1757010274.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:34.563Z,1757010274.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 397.710785 m,
      bearing: 168.749014 deg,
      approach rate: -0.722231 m/s,
      LOS rate: -0.006196 deg/s,
      cmd heading: 164.273412 deg,
      new cmd heading: 164.268785 deg.

2025-09-04T18:24:34.580Z,1757010274.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.867031 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:34.622Z,1757010274.622 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:34.622Z,1757010274.622 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:34.623Z,1757010274.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:34.873Z,1757010274.873 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:34.873Z,1757010274.873 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:34.873Z,1757010274.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:34.968Z,1757010274.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:34.971Z,1757010274.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 397.416382 m,
      bearing: 168.746459 deg,
      approach rate: -0.721796 m/s,
      LOS rate: -0.006268 deg/s,
      cmd heading: 164.268782 deg,
      new cmd heading: 164.263669 deg.

2025-09-04T18:24:34.972Z,1757010274.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866942 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:35.125Z,1757010275.125 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:35.126Z,1757010275.126 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:35.126Z,1757010275.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:35.378Z,1757010275.378 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:35.378Z,1757010275.378 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:35.379Z,1757010275.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:35.472Z,1757010275.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:35.475Z,1757010275.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:35.488Z,1757010275.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 397.063873 m,
      bearing: 168.743395 deg,
      approach rate: -0.695452 m/s,
      LOS rate: -0.006049 deg/s,
      cmd heading: 164.263673 deg,
      new cmd heading: 164.257540 deg.

2025-09-04T18:24:35.490Z,1757010275.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866835 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:35.633Z,1757010275.633 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:35.634Z,1757010275.634 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:35.635Z,1757010275.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:35.826Z,1757010275.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:35.829Z,1757010275.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 396.801361 m,
      bearing: 168.741755 deg,
      approach rate: -0.746892 m/s,
      LOS rate: -0.004671 deg/s,
      cmd heading: 164.257539 deg,
      new cmd heading: 164.254256 deg.

2025-09-04T18:24:35.830Z,1757010275.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866778 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:35.882Z,1757010275.882 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:35.882Z,1757010275.882 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:35.882Z,1757010275.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:36.134Z,1757010276.134 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:36.134Z,1757010276.134 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:36.135Z,1757010276.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:36.243Z,1757010276.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:36.246Z,1757010276.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 396.514374 m,
      bearing: 168.739959 deg,
      approach rate: -0.689196 m/s,
      LOS rate: -0.004316 deg/s,
      cmd heading: 164.254261 deg,
      new cmd heading: 164.250666 deg.

2025-09-04T18:24:36.246Z,1757010276.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866715 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:36.385Z,1757010276.385 [DAT](INFO): Reached modem response timeout
2025-09-04T18:24:36.385Z,1757010276.385 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:24:36.385Z,1757010276.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:36.634Z,1757010276.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:36.638Z,1757010276.638 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:24:36.638Z,1757010276.638 [DAT](INFO): response not received
2025-09-04T18:24:36.638Z,1757010276.638 [DAT](INFO): DAT read: user:2731>

2025-09-04T18:24:36.639Z,1757010276.639 [DAT](INFO): DAT read: Tx time:18:24:35.7819

2025-09-04T18:24:36.639Z,1757010276.639 [DAT](INFO): Ping request sent.
2025-09-04T18:24:36.640Z,1757010276.640 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:36.640Z,1757010276.640 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:36.640Z,1757010276.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000834
2025-09-04T18:24:36.643Z,1757010276.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 396.235138 m,
      bearing: 168.738194 deg,
      approach rate: -0.714173 m/s,
      LOS rate: -0.004518 deg/s,
      cmd heading: 164.250668 deg,
      new cmd heading: 164.247135 deg.

2025-09-04T18:24:36.644Z,1757010276.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866653 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:36.890Z,1757010276.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250059
2025-09-04T18:24:37.030Z,1757010277.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:37.033Z,1757010277.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 395.959381 m,
      bearing: 168.736415 deg,
      approach rate: -0.696255 m/s,
      LOS rate: -0.004493 deg/s,
      cmd heading: 164.247130 deg,
      new cmd heading: 164.243571 deg.

2025-09-04T18:24:37.034Z,1757010277.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866591 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:37.141Z,1757010277.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501393
2025-09-04T18:24:37.396Z,1757010277.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756169
2025-09-04T18:24:37.531Z,1757010277.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:37.554Z,1757010277.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:37.563Z,1757010277.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 395.584015 m,
      bearing: 168.734289 deg,
      approach rate: -0.716594 m/s,
      LOS rate: -0.004062 deg/s,
      cmd heading: 164.243565 deg,
      new cmd heading: 164.239309 deg.

2025-09-04T18:24:37.568Z,1757010277.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866517 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:37.645Z,1757010277.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005462
2025-09-04T18:24:37.897Z,1757010277.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257532
2025-09-04T18:24:38.053Z,1757010278.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:38.056Z,1757010278.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 395.208618 m,
      bearing: 168.732094 deg,
      approach rate: -0.751343 m/s,
      LOS rate: -0.004398 deg/s,
      cmd heading: 164.239303 deg,
      new cmd heading: 164.234907 deg.

2025-09-04T18:24:38.057Z,1757010278.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866440 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:38.149Z,1757010278.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509619
2025-09-04T18:24:38.401Z,1757010278.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761697
2025-09-04T18:24:38.627Z,1757010278.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:38.632Z,1757010278.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 394.831299 m,
      bearing: 168.729852 deg,
      approach rate: -0.658075 m/s,
      LOS rate: -0.003915 deg/s,
      cmd heading: 164.234904 deg,
      new cmd heading: 164.230415 deg.

2025-09-04T18:24:38.633Z,1757010278.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866361 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:38.653Z,1757010278.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013345
2025-09-04T18:24:38.905Z,1757010278.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265874
2025-09-04T18:24:38.994Z,1757010278.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:38.997Z,1757010278.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 394.530060 m,
      bearing: 168.728058 deg,
      approach rate: -0.820868 m/s,
      LOS rate: -0.004890 deg/s,
      cmd heading: 164.230410 deg,
      new cmd heading: 164.226821 deg.

2025-09-04T18:24:38.998Z,1757010278.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866299 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:39.157Z,1757010279.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517384
2025-09-04T18:24:39.361Z,1757010279.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:39.364Z,1757010279.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 394.264801 m,
      bearing: 168.726476 deg,
      approach rate: -0.721351 m/s,
      LOS rate: -0.004307 deg/s,
      cmd heading: 164.226817 deg,
      new cmd heading: 164.223649 deg.

2025-09-04T18:24:39.365Z,1757010279.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866243 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:39.413Z,1757010279.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772566
2025-09-04T18:24:39.661Z,1757010279.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021576
2025-09-04T18:24:39.802Z,1757010279.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:39.805Z,1757010279.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:39.807Z,1757010279.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 393.945251 m,
      bearing: 168.723876 deg,
      approach rate: -0.720771 m/s,
      LOS rate: -0.005868 deg/s,
      cmd heading: 164.223648 deg,
      new cmd heading: 164.218444 deg.

2025-09-04T18:24:39.809Z,1757010279.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866153 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:39.913Z,1757010279.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273603
2025-09-04T18:24:40.165Z,1757010280.165 [DAT](INFO): DAT read: Rx Time:18:24:38.7503

2025-09-04T18:24:40.166Z,1757010280.166 [DAT](INFO): Rx dataTimestamp_ set to:1757010280.165303
2025-09-04T18:24:40.166Z,1757010280.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526532
2025-09-04T18:24:40.178Z,1757010280.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:40.181Z,1757010280.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 393.674194 m,
      bearing: 168.721667 deg,
      approach rate: -0.726576 m/s,
      LOS rate: -0.005926 deg/s,
      cmd heading: 164.218443 deg,
      new cmd heading: 164.214022 deg.

2025-09-04T18:24:40.182Z,1757010280.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.866075 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:40.417Z,1757010280.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777456
2025-09-04T18:24:40.621Z,1757010280.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.73 m.
2025-09-04T18:24:40.626Z,1757010280.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.725891 m,
      nav range: 393.361145 m,
      bearing: 168.719135 deg,
      approach rate: -0.707576 m/s,
      LOS rate: -0.005726 deg/s,
      cmd heading: 164.214017 deg,
      new cmd heading: 164.208950 deg.

2025-09-04T18:24:40.627Z,1757010280.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865987 target range: 423.725891 and range: 425.50 m.
2025-09-04T18:24:40.675Z,1757010280.675 [DAT](INFO): DAT read: 18:24:38.7503 LVL= 28016, 29329, 30994, 32755, AGC= 68, IDX= 447, 0.14, 0.948,-0.604, 1.025, 0.262, PHS= 0.788,-0.821, 0.719, RAW= 147.8,  -8.8, CAL= 148.1, -10.4, ROT=   1.9,  10.4

2025-09-04T18:24:40.676Z,1757010280.676 [DAT](INFO): got valid direction response:
 18:24:38.7503 LVL= 28016, 29329, 30994, 32755, AGC= 68, IDX= 447, 0.14, 0.948,-0.604, 1.025, 0.262, PHS= 0.788,-0.821, 0.719, RAW= 147.8,  -8.8, CAL= 148.1, -10.4, ROT=   1.9,  10.4

2025-09-04T18:24:40.677Z,1757010280.677 [DAT](INFO): DAT read: Bearing 319.0,   6.0 (Local)

2025-09-04T18:24:40.678Z,1757010280.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0,   6.0 (Local)

2025-09-04T18:24:40.679Z,1757010280.679 [DAT](INFO): DAT read: Range 11 to 50 : 423.2 m  (Round-trip  564.3 ms) speed  0.5 m/s

2025-09-04T18:24:40.680Z,1757010280.680 [DAT](INFO): DAT read: user:2732>

2025-09-04T18:24:40.681Z,1757010280.681 [DAT](INFO): DAT read: Tx time:18:24:39.8819

2025-09-04T18:24:40.681Z,1757010280.681 [DAT](INFO): Ping request sent.
2025-09-04T18:24:40.681Z,1757010280.681 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:40.682Z,1757010280.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:40.683Z,1757010280.683 [DAT](INFO): direction in FSK: [0.983031,0.032610,-0.180519]
2025-09-04T18:24:40.683Z,1757010280.683 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:40.683Z,1757010280.683 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:40.686Z,1757010280.686 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:40.687Z,1757010280.687 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:41.091Z,1757010281.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 423.200012 m,
      deltaT: 16.632021 s,
      deltaX: -2.299988 m,
      approachRate: -0.138287 m/s,
      rangeRepo size: 4

2025-09-04T18:24:41.104Z,1757010281.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.432129 m,
      bearing: 166.686085 deg,
      lat: 36.779308 deg,
      lon: -121.859645 deg,
      deltaT: 16.632021 s,
      deltaX: -2.293762 m,
      approachRate: -0.137912 m/s,
      posRepo size: 4

2025-09-04T18:24:41.113Z,1757010281.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:41.136Z,1757010281.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 400.945831 m,
      bearing: 167.647903 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005726 deg/s,
      cmd heading: 164.208949 deg,
      new cmd heading: 164.203567 deg.

2025-09-04T18:24:41.137Z,1757010281.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865893 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:41.641Z,1757010281.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:41.647Z,1757010281.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 400.562134 m,
      bearing: 167.642627 deg,
      approach rate: -0.703555 m/s,
      LOS rate: -0.009683 deg/s,
      cmd heading: 164.203567 deg,
      new cmd heading: 164.193006 deg.

2025-09-04T18:24:41.648Z,1757010281.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865709 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:41.953Z,1757010281.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:41.955Z,1757010281.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:41.958Z,1757010281.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 400.299927 m,
      bearing: 167.639023 deg,
      approach rate: -0.819558 m/s,
      LOS rate: -0.011273 deg/s,
      cmd heading: 164.193007 deg,
      new cmd heading: 164.185795 deg.

2025-09-04T18:24:41.959Z,1757010281.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865583 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:42.181Z,1757010282.181 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:42.181Z,1757010282.181 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:42.182Z,1757010282.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:42.300Z,1757010282.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:24:42.354Z,1757010282.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:42.373Z,1757010282.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 400.009003 m,
      bearing: 167.635038 deg,
      approach rate: -0.729868 m/s,
      LOS rate: -0.010004 deg/s,
      cmd heading: 164.185795 deg,
      new cmd heading: 164.177819 deg.

2025-09-04T18:24:42.374Z,1757010282.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865443 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:42.434Z,1757010282.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752325
2025-09-04T18:24:42.685Z,1757010282.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003819
2025-09-04T18:24:42.758Z,1757010282.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:42.761Z,1757010282.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 399.713837 m,
      bearing: 167.631031 deg,
      approach rate: -0.731065 m/s,
      LOS rate: -0.009933 deg/s,
      cmd heading: 164.177817 deg,
      new cmd heading: 164.169796 deg.

2025-09-04T18:24:42.762Z,1757010282.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865304 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:42.937Z,1757010282.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255601
2025-09-04T18:24:43.161Z,1757010283.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:43.163Z,1757010283.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 399.420441 m,
      bearing: 167.627059 deg,
      approach rate: -0.729697 m/s,
      LOS rate: -0.009885 deg/s,
      cmd heading: 164.169799 deg,
      new cmd heading: 164.161849 deg.

2025-09-04T18:24:43.180Z,1757010283.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865165 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:43.190Z,1757010283.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508204
2025-09-04T18:24:43.305Z,1757010283.305 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:24:43.444Z,1757010283.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761845
2025-09-04T18:24:43.552Z,1757010283.552 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00031122121487,35.0, +11.9,496.8,  0
2025-09-04T18:24:43.572Z,1757010283.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:43.575Z,1757010283.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 399.123291 m,
      bearing: 167.623026 deg,
      approach rate: -0.721554 m/s,
      LOS rate: -0.009801 deg/s,
      cmd heading: 164.161848 deg,
      new cmd heading: 164.153776 deg.

2025-09-04T18:24:43.576Z,1757010283.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.865024 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:43.694Z,1757010283.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012383
2025-09-04T18:24:43.945Z,1757010283.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263818
2025-09-04T18:24:43.962Z,1757010283.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:43.964Z,1757010283.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:43.967Z,1757010283.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 398.834015 m,
      bearing: 167.619082 deg,
      approach rate: -0.737122 m/s,
      LOS rate: -0.010058 deg/s,
      cmd heading: 164.153775 deg,
      new cmd heading: 164.145881 deg.

2025-09-04T18:24:43.968Z,1757010283.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864886 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:44.202Z,1757010284.202 [DAT](INFO): DAT read: Rx Time:18:24:42.8343

2025-09-04T18:24:44.202Z,1757010284.202 [DAT](INFO): Rx dataTimestamp_ set to:1757010284.202034
2025-09-04T18:24:44.203Z,1757010284.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521908
2025-09-04T18:24:44.383Z,1757010284.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.43 m.
2025-09-04T18:24:44.386Z,1757010284.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.432129 m,
      nav range: 398.528351 m,
      bearing: 167.614908 deg,
      approach rate: -0.729475 m/s,
      LOS rate: -0.009968 deg/s,
      cmd heading: 164.145879 deg,
      new cmd heading: 164.137526 deg.

2025-09-04T18:24:44.387Z,1757010284.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864740 target range: 421.432129 and range: 423.20 m.
2025-09-04T18:24:44.454Z,1757010284.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773075
2025-09-04T18:24:44.711Z,1757010284.711 [DAT](INFO): DAT read: 18:24:42.8343 LVL= 24560, 26353, 31682, 32755, AGC= 74, IDX= 289,-0.29,-1.419,-2.825,-1.299,-1.853, PHS= 0.536,-0.927, 0.510, RAW= 149.1,  -1.7, CAL= 148.4,  -2.4, ROT=   1.6,   2.4

2025-09-04T18:24:44.712Z,1757010284.712 [DAT](INFO): got valid direction response:
 18:24:42.8343 LVL= 24560, 26353, 31682, 32755, AGC= 74, IDX= 289,-0.29,-1.419,-2.825,-1.299,-1.853, PHS= 0.536,-0.927, 0.510, RAW= 149.1,  -1.7, CAL= 148.4,  -2.4, ROT=   1.6,   2.4

2025-09-04T18:24:44.713Z,1757010284.713 [DAT](INFO): DAT read: Bearing 325.9,   7.2 (Local)

2025-09-04T18:24:44.713Z,1757010284.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.9,   7.2 (Local)

2025-09-04T18:24:44.715Z,1757010284.715 [DAT](INFO): DAT read: Range 11 to 50 : 411.2 m  (Round-trip  548.3 ms) speed  0.7 m/s

2025-09-04T18:24:44.716Z,1757010284.716 [DAT](INFO): DAT read: user:2733>

2025-09-04T18:24:44.717Z,1757010284.717 [DAT](INFO): DAT read: Tx time:18:24:43.9319

2025-09-04T18:24:44.717Z,1757010284.717 [DAT](INFO): Ping request sent.
2025-09-04T18:24:44.717Z,1757010284.717 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:44.717Z,1757010284.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:44.718Z,1757010284.718 [DAT](INFO): direction in FSK: [0.998733,0.027897,-0.041876]
2025-09-04T18:24:44.718Z,1757010284.718 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:44.719Z,1757010284.719 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:44.722Z,1757010284.722 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:44.723Z,1757010284.723 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:44.858Z,1757010284.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 411.200012 m,
      deltaT: 4.036009 s,
      deltaX: -12.000000 m,
      approachRate: -2.973234 m/s,
      rangeRepo size: 4

2025-09-04T18:24:44.860Z,1757010284.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 409.480255 m,
      bearing: 166.460962 deg,
      lat: 36.779292 deg,
      lon: -121.859645 deg,
      deltaT: 4.036009 s,
      deltaX: -11.951874 m,
      approachRate: -2.961310 m/s,
      posRepo size: 4

2025-09-04T18:24:44.865Z,1757010284.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:44.868Z,1757010284.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 399.979797 m,
      bearing: 167.666186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009968 deg/s,
      cmd heading: 164.137533 deg,
      new cmd heading: 164.128086 deg.

2025-09-04T18:24:44.877Z,1757010284.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864575 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:45.269Z,1757010285.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:45.276Z,1757010285.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 399.656189 m,
      bearing: 167.661861 deg,
      approach rate: -0.785023 m/s,
      LOS rate: -0.010500 deg/s,
      cmd heading: 164.128080 deg,
      new cmd heading: 164.119423 deg.

2025-09-04T18:24:45.277Z,1757010285.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864424 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:45.796Z,1757010285.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:45.799Z,1757010285.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 399.269958 m,
      bearing: 167.658033 deg,
      approach rate: -0.733230 m/s,
      LOS rate: -0.007274 deg/s,
      cmd heading: 164.119419 deg,
      new cmd heading: 164.111756 deg.

2025-09-04T18:24:45.800Z,1757010285.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864290 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:46.185Z,1757010286.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:46.187Z,1757010286.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:46.189Z,1757010286.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 398.997681 m,
      bearing: 167.655354 deg,
      approach rate: -0.696826 m/s,
      LOS rate: -0.006863 deg/s,
      cmd heading: 164.111756 deg,
      new cmd heading: 164.106392 deg.

2025-09-04T18:24:46.190Z,1757010286.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864197 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:46.217Z,1757010286.217 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:46.217Z,1757010286.217 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:46.217Z,1757010286.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:46.470Z,1757010286.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752878
2025-09-04T18:24:46.614Z,1757010286.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:46.620Z,1757010286.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 398.708679 m,
      bearing: 167.652540 deg,
      approach rate: -0.676941 m/s,
      LOS rate: -0.006595 deg/s,
      cmd heading: 164.106387 deg,
      new cmd heading: 164.100756 deg.

2025-09-04T18:24:46.621Z,1757010286.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.864099 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:46.722Z,1757010286.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004455
2025-09-04T18:24:46.973Z,1757010286.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256187
2025-09-04T18:24:46.990Z,1757010286.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:46.993Z,1757010286.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 398.415375 m,
      bearing: 167.649679 deg,
      approach rate: -0.779207 m/s,
      LOS rate: -0.007607 deg/s,
      cmd heading: 164.100759 deg,
      new cmd heading: 164.095032 deg.

2025-09-04T18:24:46.994Z,1757010286.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863999 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:47.226Z,1757010287.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508678
2025-09-04T18:24:47.459Z,1757010287.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:47.466Z,1757010287.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 398.114319 m,
      bearing: 167.646726 deg,
      approach rate: -0.641913 m/s,
      LOS rate: -0.006301 deg/s,
      cmd heading: 164.095035 deg,
      new cmd heading: 164.089125 deg.

2025-09-04T18:24:47.467Z,1757010287.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863895 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:47.478Z,1757010287.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760965
2025-09-04T18:24:47.729Z,1757010287.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012145
2025-09-04T18:24:47.845Z,1757010287.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:47.848Z,1757010287.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 397.806061 m,
      bearing: 167.644741 deg,
      approach rate: -0.797742 m/s,
      LOS rate: -0.005141 deg/s,
      cmd heading: 164.089120 deg,
      new cmd heading: 164.085147 deg.

2025-09-04T18:24:47.849Z,1757010287.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863826 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:47.981Z,1757010287.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264105
2025-09-04T18:24:48.225Z,1757010288.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:48.227Z,1757010288.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:48.230Z,1757010288.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 397.536072 m,
      bearing: 167.643010 deg,
      approach rate: -0.707061 m/s,
      LOS rate: -0.004537 deg/s,
      cmd heading: 164.085145 deg,
      new cmd heading: 164.081680 deg.

2025-09-04T18:24:48.231Z,1757010288.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863765 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:48.233Z,1757010288.233 [DAT](INFO): DAT read: Rx Time:18:24:46.8806

2025-09-04T18:24:48.234Z,1757010288.234 [DAT](INFO): Rx dataTimestamp_ set to:1757010288.233301
2025-09-04T18:24:48.234Z,1757010288.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517177
2025-09-04T18:24:48.486Z,1757010288.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769461
2025-09-04T18:24:48.706Z,1757010288.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.48 m.
2025-09-04T18:24:48.714Z,1757010288.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 409.480255 m,
      nav range: 397.217773 m,
      bearing: 167.640963 deg,
      approach rate: -0.665052 m/s,
      LOS rate: -0.004279 deg/s,
      cmd heading: 164.081675 deg,
      new cmd heading: 164.077579 deg.

2025-09-04T18:24:48.715Z,1757010288.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863694 target range: 409.480255 and range: 411.20 m.
2025-09-04T18:24:48.743Z,1757010288.743 [DAT](INFO): DAT read: 18:24:46.8806 LVL= 29856, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.11, 2.449, 0.829, 2.495, 2.095, PHS= 0.456,-1.221, 0.356, RAW= 147.0,   5.1, CAL= 146.4,   5.4, ROT=   3.6,  -5.4

2025-09-04T18:24:48.745Z,1757010288.745 [DAT](INFO): got valid direction response:
 18:24:46.8806 LVL= 29856, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.11, 2.449, 0.829, 2.495, 2.095, PHS= 0.456,-1.221, 0.356, RAW= 147.0,   5.1, CAL= 146.4,   5.4, ROT=   3.6,  -5.4

2025-09-04T18:24:48.746Z,1757010288.746 [DAT](INFO): DAT read: Bearing 333.2,  10.4 (Local)

2025-09-04T18:24:48.746Z,1757010288.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.2,  10.4 (Local)

2025-09-04T18:24:48.747Z,1757010288.747 [DAT](INFO): DAT read: Range 11 to 50 : 408.4 m  (Round-trip  544.6 ms) speed  0.6 m/s

2025-09-04T18:24:48.748Z,1757010288.748 [DAT](INFO): DAT read: user:2734>

2025-09-04T18:24:48.749Z,1757010288.749 [DAT](INFO): DAT read: Tx time:18:24:47.9819

2025-09-04T18:24:48.749Z,1757010288.749 [DAT](INFO): Ping request sent.
2025-09-04T18:24:48.749Z,1757010288.749 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:48.750Z,1757010288.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:48.751Z,1757010288.751 [DAT](INFO): direction in FSK: [0.993597,0.062512,0.094108]
2025-09-04T18:24:48.751Z,1757010288.751 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:48.751Z,1757010288.751 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:48.754Z,1757010288.754 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:48.755Z,1757010288.755 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:49.153Z,1757010289.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 408.399994 m,
      deltaT: 4.032120 s,
      deltaX: -2.800018 m,
      approachRate: -0.694428 m/s,
      rangeRepo size: 4

2025-09-04T18:24:49.155Z,1757010289.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.691589 m,
      bearing: 168.657595 deg,
      lat: 36.779276 deg,
      lon: -121.859645 deg,
      deltaT: 4.032120 s,
      deltaX: -2.788666 m,
      approachRate: -0.691613 m/s,
      posRepo size: 4

2025-09-04T18:24:49.155Z,1757010289.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:49.174Z,1757010289.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 398.644043 m,
      bearing: 167.693465 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004279 deg/s,
      cmd heading: 164.077577 deg,
      new cmd heading: 164.073829 deg.

2025-09-04T18:24:49.175Z,1757010289.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863629 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:49.642Z,1757010289.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:49.650Z,1757010289.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 398.259766 m,
      bearing: 167.690781 deg,
      approach rate: -0.771699 m/s,
      LOS rate: -0.005396 deg/s,
      cmd heading: 164.073834 deg,
      new cmd heading: 164.068460 deg.

2025-09-04T18:24:49.651Z,1757010289.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863535 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:50.008Z,1757010290.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:50.011Z,1757010290.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 397.999908 m,
      bearing: 167.689002 deg,
      approach rate: -0.709814 m/s,
      LOS rate: -0.004863 deg/s,
      cmd heading: 164.068466 deg,
      new cmd heading: 164.064905 deg.

2025-09-04T18:24:50.013Z,1757010290.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863473 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:50.535Z,1757010290.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:50.537Z,1757010290.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:50.540Z,1757010290.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 397.622925 m,
      bearing: 167.686481 deg,
      approach rate: -0.712033 m/s,
      LOS rate: -0.004766 deg/s,
      cmd heading: 164.064900 deg,
      new cmd heading: 164.059854 deg.

2025-09-04T18:24:50.541Z,1757010290.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863385 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:50.757Z,1757010290.757 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:50.757Z,1757010290.757 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:50.758Z,1757010290.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:50.947Z,1757010290.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:50.950Z,1757010290.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 397.331116 m,
      bearing: 167.684523 deg,
      approach rate: -0.712477 m/s,
      LOS rate: -0.004783 deg/s,
      cmd heading: 164.059860 deg,
      new cmd heading: 164.055942 deg.

2025-09-04T18:24:50.951Z,1757010290.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863316 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:51.009Z,1757010291.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259743
2025-09-04T18:24:51.261Z,1757010291.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511569
2025-09-04T18:24:51.337Z,1757010291.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:51.341Z,1757010291.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 397.054138 m,
      bearing: 167.682690 deg,
      approach rate: -0.709010 m/s,
      LOS rate: -0.004697 deg/s,
      cmd heading: 164.055939 deg,
      new cmd heading: 164.052270 deg.

2025-09-04T18:24:51.342Z,1757010291.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863252 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:51.514Z,1757010291.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764528
2025-09-04T18:24:51.765Z,1757010291.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015597
2025-09-04T18:24:51.771Z,1757010291.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:51.774Z,1757010291.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 396.740417 m,
      bearing: 167.680404 deg,
      approach rate: -0.723559 m/s,
      LOS rate: -0.005275 deg/s,
      cmd heading: 164.052265 deg,
      new cmd heading: 164.047690 deg.

2025-09-04T18:24:51.775Z,1757010291.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863172 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:52.017Z,1757010292.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267470
2025-09-04T18:24:52.152Z,1757010292.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:52.155Z,1757010292.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 396.463898 m,
      bearing: 167.678396 deg,
      approach rate: -0.726640 m/s,
      LOS rate: -0.005282 deg/s,
      cmd heading: 164.047688 deg,
      new cmd heading: 164.043669 deg.

2025-09-04T18:24:52.156Z,1757010292.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863102 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:52.269Z,1757010292.269 [DAT](INFO): DAT read: Rx Time:18:24:50.9267

2025-09-04T18:24:52.270Z,1757010292.270 [DAT](INFO): Rx dataTimestamp_ set to:1757010292.269425
2025-09-04T18:24:52.270Z,1757010292.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520707
2025-09-04T18:24:52.521Z,1757010292.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771604
2025-09-04T18:24:52.569Z,1757010292.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:52.574Z,1757010292.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.69 m.
2025-09-04T18:24:52.581Z,1757010292.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.691589 m,
      nav range: 396.165283 m,
      bearing: 167.676253 deg,
      approach rate: -0.706534 m/s,
      LOS rate: -0.005074 deg/s,
      cmd heading: 164.043672 deg,
      new cmd heading: 164.039383 deg.

2025-09-04T18:24:52.583Z,1757010292.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.863027 target range: 406.691589 and range: 408.40 m.
2025-09-04T18:24:52.779Z,1757010292.779 [DAT](INFO): DAT read: 18:24:50.9267 LVL= 27280, 32113, 32610, 32755, AGC= 69, IDX= 397,-0.26, 0.411,-1.096, 0.534,-0.250, PHS= 0.762,-0.801, 0.740, RAW= 149.3,  -9.1, CAL= 149.7, -10.8, ROT=   0.3,  10.8

2025-09-04T18:24:52.780Z,1757010292.780 [DAT](INFO): got valid direction response:
 18:24:50.9267 LVL= 27280, 32113, 32610, 32755, AGC= 69, IDX= 397,-0.26, 0.411,-1.096, 0.534,-0.250, PHS= 0.762,-0.801, 0.740, RAW= 149.3,  -9.1, CAL= 149.7, -10.8, ROT=   0.3,  10.8

2025-09-04T18:24:52.781Z,1757010292.781 [DAT](INFO): DAT read: Bearing 316.2,   8.9 (Local)

2025-09-04T18:24:52.781Z,1757010292.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.2,   8.9 (Local)

2025-09-04T18:24:52.782Z,1757010292.782 [DAT](INFO): DAT read: Range 11 to 50 : 405.5 m  (Round-trip  540.7 ms) speed  0.6 m/s

2025-09-04T18:24:52.783Z,1757010292.783 [DAT](INFO): DAT read: user:2735>

2025-09-04T18:24:52.784Z,1757010292.784 [DAT](INFO): DAT read: Tx time:18:24:52.0319

2025-09-04T18:24:52.784Z,1757010292.784 [DAT](INFO): Ping request sent.
2025-09-04T18:24:52.784Z,1757010292.784 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:52.785Z,1757010292.785 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:52.786Z,1757010292.786 [DAT](INFO): direction in FSK: [0.982274,0.005143,-0.187381]
2025-09-04T18:24:52.786Z,1757010292.786 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:52.786Z,1757010292.786 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:52.789Z,1757010292.789 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:52.790Z,1757010292.790 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:53.011Z,1757010293.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.500000 m,
      deltaT: 4.035667 s,
      deltaX: -2.899994 m,
      approachRate: -0.718591 m/s,
      rangeRepo size: 4

2025-09-04T18:24:53.017Z,1757010293.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 403.799835 m,
      bearing: 164.517146 deg,
      lat: 36.779257 deg,
      lon: -121.859530 deg,
      deltaT: 4.035667 s,
      deltaX: -2.891754 m,
      approachRate: -0.716549 m/s,
      posRepo size: 4

2025-09-04T18:24:53.018Z,1757010293.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:53.026Z,1757010293.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 400.267700 m,
      bearing: 166.300463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005074 deg/s,
      cmd heading: 164.039383 deg,
      new cmd heading: 164.034957 deg.

2025-09-04T18:24:53.027Z,1757010293.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862950 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:53.508Z,1757010293.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:53.511Z,1757010293.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 399.973999 m,
      bearing: 166.297414 deg,
      approach rate: -0.604617 m/s,
      LOS rate: -0.006283 deg/s,
      cmd heading: 164.034957 deg,
      new cmd heading: 164.028853 deg.

2025-09-04T18:24:53.517Z,1757010293.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862844 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:53.827Z,1757010293.827 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  2.76, 445.23, 545.30, 355.36
2025-09-04T18:24:53.843Z,1757010293.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:53.847Z,1757010293.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 399.650574 m,
      bearing: 166.294068 deg,
      approach rate: -0.931337 m/s,
      LOS rate: -0.009642 deg/s,
      cmd heading: 164.028851 deg,
      new cmd heading: 164.022154 deg.

2025-09-04T18:24:53.868Z,1757010293.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862727 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:54.242Z,1757010294.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:54.245Z,1757010294.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 399.363281 m,
      bearing: 166.291127 deg,
      approach rate: -0.721139 m/s,
      LOS rate: -0.007388 deg/s,
      cmd heading: 164.022157 deg,
      new cmd heading: 164.016271 deg.

2025-09-04T18:24:54.246Z,1757010294.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862624 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:54.665Z,1757010294.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:54.667Z,1757010294.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:54.674Z,1757010294.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 399.059540 m,
      bearing: 166.288047 deg,
      approach rate: -0.715041 m/s,
      LOS rate: -0.007257 deg/s,
      cmd heading: 164.016270 deg,
      new cmd heading: 164.010104 deg.

2025-09-04T18:24:54.675Z,1757010294.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862516 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:54.789Z,1757010294.789 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:54.789Z,1757010294.789 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:54.789Z,1757010294.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:55.041Z,1757010295.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256694
2025-09-04T18:24:55.045Z,1757010295.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:55.048Z,1757010295.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 398.783691 m,
      bearing: 166.285310 deg,
      approach rate: -0.728172 m/s,
      LOS rate: -0.007229 deg/s,
      cmd heading: 164.010109 deg,
      new cmd heading: 164.004632 deg.

2025-09-04T18:24:55.049Z,1757010295.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862421 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:55.293Z,1757010295.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508737
2025-09-04T18:24:55.515Z,1757010295.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:55.518Z,1757010295.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 398.444305 m,
      bearing: 166.279776 deg,
      approach rate: -0.722416 m/s,
      LOS rate: -0.011791 deg/s,
      cmd heading: 164.004631 deg,
      new cmd heading: 163.993552 deg.

2025-09-04T18:24:55.519Z,1757010295.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862227 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:55.545Z,1757010295.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760746
2025-09-04T18:24:55.799Z,1757010295.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014925
2025-09-04T18:24:55.868Z,1757010295.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:55.871Z,1757010295.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 398.201752 m,
      bearing: 166.275850 deg,
      approach rate: -0.695279 m/s,
      LOS rate: -0.011261 deg/s,
      cmd heading: 163.993552 deg,
      new cmd heading: 163.985695 deg.

2025-09-04T18:24:55.876Z,1757010295.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.862090 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:56.065Z,1757010296.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279866
2025-09-04T18:24:56.259Z,1757010296.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:56.262Z,1757010296.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 397.908752 m,
      bearing: 166.271151 deg,
      approach rate: -0.741586 m/s,
      LOS rate: -0.011900 deg/s,
      cmd heading: 163.985698 deg,
      new cmd heading: 163.976295 deg.

2025-09-04T18:24:56.263Z,1757010296.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861926 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:56.306Z,1757010296.306 [DAT](INFO): DAT read: Rx Time:18:24:54.9730

2025-09-04T18:24:56.306Z,1757010296.306 [DAT](INFO): Rx dataTimestamp_ set to:1757010296.305840
2025-09-04T18:24:56.307Z,1757010296.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522648
2025-09-04T18:24:56.562Z,1757010296.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777407
2025-09-04T18:24:56.672Z,1757010296.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.80 m.
2025-09-04T18:24:56.675Z,1757010296.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.799835 m,
      nav range: 397.620300 m,
      bearing: 166.266561 deg,
      approach rate: -0.719750 m/s,
      LOS rate: -0.011463 deg/s,
      cmd heading: 163.976299 deg,
      new cmd heading: 163.967112 deg.

2025-09-04T18:24:56.680Z,1757010296.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861766 target range: 403.799835 and range: 405.50 m.
2025-09-04T18:24:56.819Z,1757010296.819 [DAT](INFO): DAT read: 18:24:54.9730 LVL= 28320, 32753, 32754, 32755, AGC= 73, IDX= 409,-0.34,-1.822, 2.877,-1.769,-2.142, PHS= 0.421,-1.220, 0.329, RAW= 147.1,   5.9, CAL= 146.6,   6.4, ROT=   3.4,  -6.4

2025-09-04T18:24:56.820Z,1757010296.820 [DAT](INFO): got valid direction response:
 18:24:54.9730 LVL= 28320, 32753, 32754, 32755, AGC= 73, IDX= 409,-0.34,-1.822, 2.877,-1.769,-2.142, PHS= 0.421,-1.220, 0.329, RAW= 147.1,   5.9, CAL= 146.6,   6.4, ROT=   3.4,  -6.4

2025-09-04T18:24:56.821Z,1757010296.821 [DAT](INFO): DAT read: Bearing 333.5,  12.8 (Local)

2025-09-04T18:24:56.822Z,1757010296.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.5,  12.8 (Local)

2025-09-04T18:24:56.823Z,1757010296.823 [DAT](INFO): DAT read: Range 11 to 50 : 402.8 m  (Round-trip  537.1 ms) speed  0.4 m/s

2025-09-04T18:24:56.824Z,1757010296.824 [DAT](INFO): DAT read: user:2736>

2025-09-04T18:24:56.825Z,1757010296.825 [DAT](INFO): DAT read: Tx time:18:24:56.0818

2025-09-04T18:24:56.825Z,1757010296.825 [DAT](INFO): Ping request sent.
2025-09-04T18:24:56.825Z,1757010296.825 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:24:56.825Z,1757010296.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:24:56.826Z,1757010296.826 [DAT](INFO): direction in FSK: [0.992019,0.058937,0.111469]
2025-09-04T18:24:56.827Z,1757010296.827 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:56.827Z,1757010296.827 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:56.830Z,1757010296.830 [DAT](INFO): publishing transmit ping time
2025-09-04T18:24:56.830Z,1757010296.830 [DAT](INFO): publishing direction and range info
2025-09-04T18:24:57.120Z,1757010297.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 402.799988 m,
      deltaT: 4.040203 s,
      deltaX: -2.700012 m,
      approachRate: -0.668286 m/s,
      rangeRepo size: 4

2025-09-04T18:24:57.122Z,1757010297.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 401.098022 m,
      bearing: 167.759660 deg,
      lat: 36.779257 deg,
      lon: -121.859530 deg,
      deltaT: 4.040203 s,
      deltaX: -2.701813 m,
      approachRate: -0.668732 m/s,
      posRepo size: 4

2025-09-04T18:24:57.123Z,1757010297.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:57.126Z,1757010297.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 397.305603 m,
      bearing: 166.261546 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011463 deg/s,
      cmd heading: 163.967106 deg,
      new cmd heading: 163.956576 deg.

2025-09-04T18:24:57.127Z,1757010297.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861582 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:57.591Z,1757010297.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:57.593Z,1757010297.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:57.596Z,1757010297.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 396.951843 m,
      bearing: 166.256831 deg,
      approach rate: -0.746927 m/s,
      LOS rate: -0.009963 deg/s,
      cmd heading: 163.956574 deg,
      new cmd heading: 163.947136 deg.

2025-09-04T18:24:57.597Z,1757010297.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861417 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:57.825Z,1757010297.825 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:24:57.825Z,1757010297.825 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:24:57.825Z,1757010297.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:24:57.955Z,1757010297.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:57.962Z,1757010297.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 396.711304 m,
      bearing: 166.253621 deg,
      approach rate: -0.664830 m/s,
      LOS rate: -0.008879 deg/s,
      cmd heading: 163.947134 deg,
      new cmd heading: 163.940709 deg.

2025-09-04T18:24:57.963Z,1757010297.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861305 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:58.078Z,1757010298.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252176
2025-09-04T18:24:58.323Z,1757010298.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:58.326Z,1757010298.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 396.429504 m,
      bearing: 166.249919 deg,
      approach rate: -0.764708 m/s,
      LOS rate: -0.010052 deg/s,
      cmd heading: 163.940714 deg,
      new cmd heading: 163.933306 deg.

2025-09-04T18:24:58.327Z,1757010298.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861176 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:58.329Z,1757010298.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503896
2025-09-04T18:24:58.581Z,1757010298.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756116
2025-09-04T18:24:58.722Z,1757010298.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:58.725Z,1757010298.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 396.144714 m,
      bearing: 166.246196 deg,
      approach rate: -0.714583 m/s,
      LOS rate: -0.009349 deg/s,
      cmd heading: 163.933310 deg,
      new cmd heading: 163.925858 deg.

2025-09-04T18:24:58.726Z,1757010298.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.861046 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:58.833Z,1757010298.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007997
2025-09-04T18:24:59.085Z,1757010299.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259777
2025-09-04T18:24:59.152Z,1757010299.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:59.155Z,1757010299.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 395.860291 m,
      bearing: 166.242514 deg,
      approach rate: -0.667492 m/s,
      LOS rate: -0.008647 deg/s,
      cmd heading: 163.925851 deg,
      new cmd heading: 163.918482 deg.

2025-09-04T18:24:59.160Z,1757010299.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860917 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:59.337Z,1757010299.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512110
2025-09-04T18:24:59.589Z,1757010299.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763812
2025-09-04T18:24:59.616Z,1757010299.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:24:59.618Z,1757010299.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:59.621Z,1757010299.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 395.505371 m,
      bearing: 166.238009 deg,
      approach rate: -0.754551 m/s,
      LOS rate: -0.009585 deg/s,
      cmd heading: 163.918489 deg,
      new cmd heading: 163.909471 deg.

2025-09-04T18:24:59.622Z,1757010299.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860760 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:24:59.841Z,1757010299.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015868
2025-09-04T18:24:59.929Z,1757010299.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:24:59.932Z,1757010299.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 395.282471 m,
      bearing: 166.235205 deg,
      approach rate: -0.716862 m/s,
      LOS rate: -0.009026 deg/s,
      cmd heading: 163.909473 deg,
      new cmd heading: 163.903860 deg.

2025-09-04T18:24:59.933Z,1757010299.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860662 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:25:00.094Z,1757010300.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269104
2025-09-04T18:25:00.336Z,1757010300.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:25:00.339Z,1757010300.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 394.992188 m,
      bearing: 166.231567 deg,
      approach rate: -0.713918 m/s,
      LOS rate: -0.008952 deg/s,
      cmd heading: 163.903858 deg,
      new cmd heading: 163.896578 deg.

2025-09-04T18:25:00.345Z,1757010300.345 [DAT](INFO): DAT read: Rx Time:18:24:59.0193

2025-09-04T18:25:00.346Z,1757010300.346 [DAT](INFO): Rx dataTimestamp_ set to:1757010300.345264
2025-09-04T18:25:00.346Z,1757010300.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520883
2025-09-04T18:25:00.360Z,1757010300.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860535 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:25:00.598Z,1757010300.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772891
2025-09-04T18:25:00.750Z,1757010300.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.10 m.
2025-09-04T18:25:00.752Z,1757010300.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.098022 m,
      nav range: 394.697113 m,
      bearing: 166.227845 deg,
      approach rate: -0.713223 m/s,
      LOS rate: -0.009003 deg/s,
      cmd heading: 163.896577 deg,
      new cmd heading: 163.889128 deg.

2025-09-04T18:25:00.753Z,1757010300.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860405 target range: 401.098022 and range: 402.80 m.
2025-09-04T18:25:00.856Z,1757010300.856 [DAT](INFO): DAT read: 18:24:59.0193 LVL= 29856, 32753, 32434, 32755, AGC= 75, IDX= 402,-0.06,-2.378, 2.412,-2.262,-3.090, PHS= 0.813,-0.737, 0.784, RAW= 149.1, -11.2, CAL= 149.8, -13.2, ROT=   0.2,  13.2

2025-09-04T18:25:00.862Z,1757010300.862 [DAT](INFO): got valid direction response:
 18:24:59.0193 LVL= 29856, 32753, 32434, 32755, AGC= 75, IDX= 402,-0.06,-2.378, 2.412,-2.262,-3.090, PHS= 0.813,-0.737, 0.784, RAW= 149.1, -11.2, CAL= 149.8, -13.2, ROT=   0.2,  13.2

2025-09-04T18:25:00.863Z,1757010300.863 [DAT](INFO): DAT read: Bearing 313.4,  10.8 (Local)

2025-09-04T18:25:00.863Z,1757010300.863 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,  10.8 (Local)

2025-09-04T18:25:00.867Z,1757010300.867 [DAT](INFO): DAT read: Range 11 to 50 : 399.9 m  (Round-trip  533.3 ms) speed  0.8 m/s

2025-09-04T18:25:00.872Z,1757010300.872 [DAT](INFO): DAT read: user:2737>

2025-09-04T18:25:00.873Z,1757010300.873 [DAT](INFO): DAT read: Tx time:18:25:00.1333

2025-09-04T18:25:00.873Z,1757010300.873 [DAT](INFO): Ping request sent.
2025-09-04T18:25:00.873Z,1757010300.873 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:00.874Z,1757010300.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:00.875Z,1757010300.875 [DAT](INFO): direction in FSK: [0.973573,0.003398,-0.228351]
2025-09-04T18:25:00.875Z,1757010300.875 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:00.875Z,1757010300.875 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:00.883Z,1757010300.883 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:00.883Z,1757010300.883 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:01.206Z,1757010301.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 399.899994 m,
      deltaT: 4.036891 s,
      deltaX: -2.899994 m,
      approachRate: -0.718373 m/s,
      rangeRepo size: 4

2025-09-04T18:25:01.216Z,1757010301.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 398.212646 m,
      bearing: 163.553130 deg,
      lat: 36.779270 deg,
      lon: -121.859530 deg,
      deltaT: 4.036891 s,
      deltaX: -2.885376 m,
      approachRate: -0.714752 m/s,
      posRepo size: 4

2025-09-04T18:25:01.217Z,1757010301.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:01.220Z,1757010301.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 392.959442 m,
      bearing: 166.172637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009003 deg/s,
      cmd heading: 163.889132 deg,
      new cmd heading: 163.880925 deg.

2025-09-04T18:25:01.229Z,1757010301.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860262 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:01.618Z,1757010301.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:01.621Z,1757010301.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 392.640594 m,
      bearing: 166.169954 deg,
      approach rate: -0.773553 m/s,
      LOS rate: -0.006515 deg/s,
      cmd heading: 163.880922 deg,
      new cmd heading: 163.875551 deg.

2025-09-04T18:25:01.622Z,1757010301.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860168 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:01.982Z,1757010301.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:01.984Z,1757010301.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:01.988Z,1757010301.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 392.378540 m,
      bearing: 166.167753 deg,
      approach rate: -0.714734 m/s,
      LOS rate: -0.006006 deg/s,
      cmd heading: 163.875554 deg,
      new cmd heading: 163.871150 deg.

2025-09-04T18:25:01.989Z,1757010301.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860091 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:02.109Z,1757010302.109 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:02.109Z,1757010302.109 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:02.110Z,1757010302.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:02.361Z,1757010302.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487495
2025-09-04T18:25:02.407Z,1757010302.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:02.410Z,1757010302.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 392.077179 m,
      bearing: 166.165209 deg,
      approach rate: -0.712530 m/s,
      LOS rate: -0.006021 deg/s,
      cmd heading: 163.871155 deg,
      new cmd heading: 163.866063 deg.

2025-09-04T18:25:02.411Z,1757010302.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.860002 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:02.614Z,1757010302.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740640
2025-09-04T18:25:02.794Z,1757010302.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:02.797Z,1757010302.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 391.802277 m,
      bearing: 166.162882 deg,
      approach rate: -0.710702 m/s,
      LOS rate: -0.006019 deg/s,
      cmd heading: 163.866060 deg,
      new cmd heading: 163.861404 deg.

2025-09-04T18:25:02.798Z,1757010302.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859921 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:02.866Z,1757010302.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992202
2025-09-04T18:25:02.884Z,1757010302.884 [DockingStepper](ERROR): only read 3 of 4 ADC values. Response is: ÿ/0`16319,14799,122
2025-09-04T18:25:02.885Z,1757010302.885 [DockingStepper](FAULT): Docking arm not reporting position
2025-09-04T18:25:02.885Z,1757010302.885 [DockingStepper] Communications Fault, FailCount= 1
2025-09-04T18:25:02.885Z,1757010302.885 [DockingStepper](ERROR): Communications Fault
2025-09-04T18:25:03.096Z,1757010303.096 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-09-04T18:25:03.117Z,1757010303.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243509
2025-09-04T18:25:03.209Z,1757010303.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:03.212Z,1757010303.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 391.508301 m,
      bearing: 166.160381 deg,
      approach rate: -0.710887 m/s,
      LOS rate: -0.006053 deg/s,
      cmd heading: 163.861402 deg,
      new cmd heading: 163.856396 deg.

2025-09-04T18:25:03.213Z,1757010303.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859834 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:03.251Z,1757010303.251 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-09-04T18:25:03.251Z,1757010303.251 [DockingStepper](INFO): Powering down
2025-09-04T18:25:03.372Z,1757010303.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498317
2025-09-04T18:25:03.594Z,1757010303.594 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,   +88,  :8,  +749,   +35,A
2025-09-04T18:25:03.621Z,1757010303.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747754
2025-09-04T18:25:03.635Z,1757010303.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:03.639Z,1757010303.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 391.203278 m,
      bearing: 166.157767 deg,
      approach rate: -0.712991 m/s,
      LOS rate: -0.006115 deg/s,
      cmd heading: 163.856402 deg,
      new cmd heading: 163.851170 deg.

2025-09-04T18:25:03.641Z,1757010303.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859742 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:03.873Z,1757010303.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999508
2025-09-04T18:25:04.007Z,1757010304.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:04.010Z,1757010304.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:04.013Z,1757010304.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 390.937958 m,
      bearing: 166.155490 deg,
      approach rate: -0.709356 m/s,
      LOS rate: -0.006093 deg/s,
      cmd heading: 163.851170 deg,
      new cmd heading: 163.846612 deg.

2025-09-04T18:25:04.014Z,1757010304.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859663 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:04.125Z,1757010304.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251501
2025-09-04T18:25:04.377Z,1757010304.377 [DAT](INFO): DAT read: Rx Time:18:25:03.0670

2025-09-04T18:25:04.378Z,1757010304.378 [DAT](INFO): Rx dataTimestamp_ set to:1757010304.377425
2025-09-04T18:25:04.378Z,1757010304.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504728
2025-09-04T18:25:04.455Z,1757010304.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:04.458Z,1757010304.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 390.625000 m,
      bearing: 166.152799 deg,
      approach rate: -0.702512 m/s,
      LOS rate: -0.006044 deg/s,
      cmd heading: 163.846608 deg,
      new cmd heading: 163.841222 deg.

2025-09-04T18:25:04.459Z,1757010304.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859569 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:04.629Z,1757010304.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755546
2025-09-04T18:25:04.851Z,1757010304.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.21 m.
2025-09-04T18:25:04.889Z,1757010304.889 [DAT](INFO): DAT read: 18:25:03.0670 LVL= 28784, 32753, 29906, 32755, AGC= 70, IDX= 395, 0.38, 1.311,-0.294, 1.390, 0.965, PHS= 0.448,-1.214, 0.381, RAW= 148.0,   4.8, CAL= 147.3,   5.0, ROT=   2.7,  -5.0

2025-09-04T18:25:04.890Z,1757010304.890 [DAT](INFO): got valid direction response:
 18:25:03.0670 LVL= 28784, 32753, 29906, 32755, AGC= 70, IDX= 395, 0.38, 1.311,-0.294, 1.390, 0.965, PHS= 0.448,-1.214, 0.381, RAW= 148.0,   4.8, CAL= 147.3,   5.0, ROT=   2.7,  -5.0

2025-09-04T18:25:04.891Z,1757010304.891 [DAT](INFO): DAT read: Bearing 332.2,  13.6 (Local)

2025-09-04T18:25:04.892Z,1757010304.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.2,  13.6 (Local)

2025-09-04T18:25:04.893Z,1757010304.893 [DAT](INFO): DAT read: Range 11 to 50 : 397.1 m  (Round-trip  529.5 ms) speed  0.5 m/s

2025-09-04T18:25:04.894Z,1757010304.894 [DAT](INFO): DAT read: user:2738>

2025-09-04T18:25:04.895Z,1757010304.895 [DAT](INFO): DAT read: Tx time:18:25:04.1818

2025-09-04T18:25:04.895Z,1757010304.895 [DAT](INFO): Ping request sent.
2025-09-04T18:25:04.895Z,1757010304.895 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:04.895Z,1757010304.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:04.897Z,1757010304.897 [DAT](INFO): direction in FSK: [0.995089,0.046927,0.087156]
2025-09-04T18:25:04.897Z,1757010304.897 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:04.897Z,1757010304.897 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:04.901Z,1757010304.901 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:04.901Z,1757010304.901 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:04.913Z,1757010304.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.212646 m,
      nav range: 390.358063 m,
      bearing: 166.150482 deg,
      approach rate: -0.680657 m/s,
      LOS rate: -0.005913 deg/s,
      cmd heading: 163.841225 deg,
      new cmd heading: 163.836587 deg.

2025-09-04T18:25:04.914Z,1757010304.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859488 target range: 398.212646 and range: 399.90 m.
2025-09-04T18:25:05.269Z,1757010305.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 397.100006 m,
      deltaT: 4.033026 s,
      deltaX: -2.799988 m,
      approachRate: -0.694265 m/s,
      rangeRepo size: 4

2025-09-04T18:25:05.271Z,1757010305.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 395.403229 m,
      bearing: 166.603121 deg,
      lat: 36.779276 deg,
      lon: -121.859590 deg,
      deltaT: 4.033026 s,
      deltaX: -2.809418 m,
      approachRate: -0.696603 m/s,
      posRepo size: 4

2025-09-04T18:25:05.276Z,1757010305.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:05.279Z,1757010305.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 388.160522 m,
      bearing: 166.894447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005913 deg/s,
      cmd heading: 163.836581 deg,
      new cmd heading: 163.831651 deg.

2025-09-04T18:25:05.289Z,1757010305.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859402 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:05.649Z,1757010305.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:05.652Z,1757010305.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 387.873199 m,
      bearing: 166.892714 deg,
      approach rate: -0.745623 m/s,
      LOS rate: -0.004503 deg/s,
      cmd heading: 163.831650 deg,
      new cmd heading: 163.828179 deg.

2025-09-04T18:25:05.653Z,1757010305.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859341 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:06.056Z,1757010306.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:06.058Z,1757010306.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:06.061Z,1757010306.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 387.587463 m,
      bearing: 166.890964 deg,
      approach rate: -0.699047 m/s,
      LOS rate: -0.004283 deg/s,
      cmd heading: 163.828180 deg,
      new cmd heading: 163.824679 deg.

2025-09-04T18:25:06.062Z,1757010306.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859280 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:06.141Z,1757010306.141 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:06.141Z,1757010306.141 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:06.141Z,1757010306.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:06.393Z,1757010306.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497780
2025-09-04T18:25:06.434Z,1757010306.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:06.437Z,1757010306.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 387.321167 m,
      bearing: 166.889328 deg,
      approach rate: -0.708940 m/s,
      LOS rate: -0.004360 deg/s,
      cmd heading: 163.824683 deg,
      new cmd heading: 163.821408 deg.

2025-09-04T18:25:06.438Z,1757010306.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859223 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:06.647Z,1757010306.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752201
2025-09-04T18:25:06.857Z,1757010306.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:06.859Z,1757010306.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 387.023468 m,
      bearing: 166.887496 deg,
      approach rate: -0.703670 m/s,
      LOS rate: -0.004334 deg/s,
      cmd heading: 163.821404 deg,
      new cmd heading: 163.817737 deg.

2025-09-04T18:25:06.861Z,1757010306.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859159 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:06.897Z,1757010306.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001974
2025-09-04T18:25:07.149Z,1757010307.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253828
2025-09-04T18:25:07.243Z,1757010307.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:07.246Z,1757010307.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 386.751038 m,
      bearing: 166.885827 deg,
      approach rate: -0.704980 m/s,
      LOS rate: -0.004321 deg/s,
      cmd heading: 163.817743 deg,
      new cmd heading: 163.814404 deg.

2025-09-04T18:25:07.247Z,1757010307.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859101 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:07.404Z,1757010307.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507887
2025-09-04T18:25:07.653Z,1757010307.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757769
2025-09-04T18:25:07.671Z,1757010307.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:07.706Z,1757010307.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 386.449219 m,
      bearing: 166.883326 deg,
      approach rate: -0.705549 m/s,
      LOS rate: -0.005852 deg/s,
      cmd heading: 163.814410 deg,
      new cmd heading: 163.809404 deg.

2025-09-04T18:25:07.707Z,1757010307.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.859014 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:07.905Z,1757010307.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009910
2025-09-04T18:25:08.062Z,1757010308.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:08.064Z,1757010308.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:08.072Z,1757010308.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 386.165131 m,
      bearing: 166.880930 deg,
      approach rate: -0.722665 m/s,
      LOS rate: -0.006100 deg/s,
      cmd heading: 163.809410 deg,
      new cmd heading: 163.804615 deg.

2025-09-04T18:25:08.073Z,1757010308.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858930 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:08.157Z,1757010308.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261847
2025-09-04T18:25:08.409Z,1757010308.409 [DAT](INFO): DAT read: Rx Time:18:25:07.1121

2025-09-04T18:25:08.410Z,1757010308.410 [DAT](INFO): Rx dataTimestamp_ set to:1757010308.409499
2025-09-04T18:25:08.410Z,1757010308.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515136
2025-09-04T18:25:08.553Z,1757010308.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.40 m.
2025-09-04T18:25:08.560Z,1757010308.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 395.403229 m,
      nav range: 385.833862 m,
      bearing: 166.878186 deg,
      approach rate: -0.677507 m/s,
      LOS rate: -0.005616 deg/s,
      cmd heading: 163.804616 deg,
      new cmd heading: 163.799124 deg.

2025-09-04T18:25:08.561Z,1757010308.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858834 target range: 395.403229 and range: 397.10 m.
2025-09-04T18:25:08.661Z,1757010308.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765763
2025-09-04T18:25:08.925Z,1757010308.925 [DAT](INFO): DAT read: 18:25:07.1121 LVL= 26864, 31137, 29234, 32755, AGC= 74, IDX= 270,-0.06,-0.892,-2.508,-0.854,-1.236, PHS= 0.446,-1.227, 0.338, RAW= 146.7,   5.5, CAL= 146.1,   5.9, ROT=   3.9,  -5.9

2025-09-04T18:25:08.926Z,1757010308.926 [DAT](INFO): got valid direction response:
 18:25:07.1121 LVL= 26864, 31137, 29234, 32755, AGC= 74, IDX= 270,-0.06,-0.892,-2.508,-0.854,-1.236, PHS= 0.446,-1.227, 0.338, RAW= 146.7,   5.5, CAL= 146.1,   5.9, ROT=   3.9,  -5.9

2025-09-04T18:25:08.928Z,1757010308.928 [DAT](INFO): DAT read: Bearing 333.1,  15.1 (Local)

2025-09-04T18:25:08.929Z,1757010308.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,  15.1 (Local)

2025-09-04T18:25:08.932Z,1757010308.932 [DAT](INFO): DAT read: Range 11 to 50 : 394.5 m  (Round-trip  526.1 ms) speed  0.4 m/s

2025-09-04T18:25:08.933Z,1757010308.933 [DAT](INFO): DAT read: user:2739>

2025-09-04T18:25:08.934Z,1757010308.934 [DAT](INFO): DAT read: Tx time:18:25:08.2318

2025-09-04T18:25:08.934Z,1757010308.934 [DAT](INFO): Ping request sent.
2025-09-04T18:25:08.934Z,1757010308.934 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:08.934Z,1757010308.934 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:08.935Z,1757010308.935 [DAT](INFO): direction in FSK: [0.992399,0.067655,0.102793]
2025-09-04T18:25:08.936Z,1757010308.936 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:08.937Z,1757010308.937 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:08.940Z,1757010308.940 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:08.940Z,1757010308.940 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:08.989Z,1757010308.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 394.500000 m,
      deltaT: 4.032882 s,
      deltaX: -2.600006 m,
      approachRate: -0.644702 m/s,
      rangeRepo size: 4

2025-09-04T18:25:08.991Z,1757010308.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 392.785217 m,
      bearing: 167.902883 deg,
      lat: 36.779339 deg,
      lon: -121.859590 deg,
      deltaT: 4.032882 s,
      deltaX: -2.618011 m,
      approachRate: -0.649166 m/s,
      posRepo size: 4

2025-09-04T18:25:08.991Z,1757010308.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:08.998Z,1757010308.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 378.723541 m,
      bearing: 166.634413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005616 deg/s,
      cmd heading: 163.799124 deg,
      new cmd heading: 163.794290 deg.

2025-09-04T18:25:08.999Z,1757010308.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858750 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:09.294Z,1757010309.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:09.297Z,1757010309.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 378.441498 m,
      bearing: 166.631811 deg,
      approach rate: -0.909196 m/s,
      LOS rate: -0.008393 deg/s,
      cmd heading: 163.794288 deg,
      new cmd heading: 163.789081 deg.

2025-09-04T18:25:09.298Z,1757010309.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858659 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:09.733Z,1757010309.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:09.736Z,1757010309.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 378.134796 m,
      bearing: 166.627567 deg,
      approach rate: -0.697442 m/s,
      LOS rate: -0.009660 deg/s,
      cmd heading: 163.789084 deg,
      new cmd heading: 163.780587 deg.

2025-09-04T18:25:09.737Z,1757010309.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858510 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:10.185Z,1757010310.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:10.187Z,1757010310.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:10.194Z,1757010310.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 377.829773 m,
      bearing: 166.623346 deg,
      approach rate: -0.672586 m/s,
      LOS rate: -0.009314 deg/s,
      cmd heading: 163.780587 deg,
      new cmd heading: 163.772139 deg.

2025-09-04T18:25:10.195Z,1757010310.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858363 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:10.425Z,1757010310.425 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:10.425Z,1757010310.425 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:10.426Z,1757010310.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:10.677Z,1757010310.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742835
2025-09-04T18:25:10.744Z,1757010310.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:10.748Z,1757010310.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 377.430237 m,
      bearing: 166.617790 deg,
      approach rate: -0.717252 m/s,
      LOS rate: -0.009985 deg/s,
      cmd heading: 163.772145 deg,
      new cmd heading: 163.761020 deg.

2025-09-04T18:25:10.749Z,1757010310.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858169 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:10.929Z,1757010310.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994789
2025-09-04T18:25:11.102Z,1757010311.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:11.111Z,1757010311.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 377.179779 m,
      bearing: 166.614265 deg,
      approach rate: -0.699685 m/s,
      LOS rate: -0.009854 deg/s,
      cmd heading: 163.761025 deg,
      new cmd heading: 163.753971 deg.

2025-09-04T18:25:11.112Z,1757010311.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.858046 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:11.181Z,1757010311.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246956
2025-09-04T18:25:11.436Z,1757010311.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501365
2025-09-04T18:25:11.590Z,1757010311.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:11.617Z,1757010311.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 376.832092 m,
      bearing: 166.609647 deg,
      approach rate: -0.712633 m/s,
      LOS rate: -0.009473 deg/s,
      cmd heading: 163.753977 deg,
      new cmd heading: 163.744733 deg.

2025-09-04T18:25:11.618Z,1757010311.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857885 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:11.685Z,1757010311.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750801
2025-09-04T18:25:11.937Z,1757010311.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002918
2025-09-04T18:25:11.957Z,1757010311.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:11.960Z,1757010311.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 376.560028 m,
      bearing: 166.606018 deg,
      approach rate: -0.741069 m/s,
      LOS rate: -0.009893 deg/s,
      cmd heading: 163.744729 deg,
      new cmd heading: 163.737464 deg.

2025-09-04T18:25:11.961Z,1757010311.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857758 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:12.189Z,1757010312.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255155
2025-09-04T18:25:12.346Z,1757010312.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:12.364Z,1757010312.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:12.367Z,1757010312.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 376.276550 m,
      bearing: 166.602208 deg,
      approach rate: -0.724127 m/s,
      LOS rate: -0.009738 deg/s,
      cmd heading: 163.737461 deg,
      new cmd heading: 163.729837 deg.

2025-09-04T18:25:12.375Z,1757010312.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857625 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:12.441Z,1757010312.441 [DAT](INFO): DAT read: Rx Time:18:25:11.1718

2025-09-04T18:25:12.442Z,1757010312.442 [DAT](INFO): Rx dataTimestamp_ set to:1757010312.441303
2025-09-04T18:25:12.442Z,1757010312.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507964
2025-09-04T18:25:12.693Z,1757010312.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759025
2025-09-04T18:25:12.763Z,1757010312.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:12.766Z,1757010312.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 375.975494 m,
      bearing: 166.598114 deg,
      approach rate: -0.725191 m/s,
      LOS rate: -0.009870 deg/s,
      cmd heading: 163.729839 deg,
      new cmd heading: 163.721644 deg.

2025-09-04T18:25:12.767Z,1757010312.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857482 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:12.948Z,1757010312.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012991
2025-09-04T18:25:13.172Z,1757010313.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.79 m.
2025-09-04T18:25:13.175Z,1757010313.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 392.785217 m,
      nav range: 375.690918 m,
      bearing: 166.594205 deg,
      approach rate: -0.724506 m/s,
      LOS rate: -0.009960 deg/s,
      cmd heading: 163.721642 deg,
      new cmd heading: 163.713818 deg.

2025-09-04T18:25:13.184Z,1757010313.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857345 target range: 392.785217 and range: 394.50 m.
2025-09-04T18:25:13.203Z,1757010313.203 [DAT](INFO): DAT read: 18:25:11.1718 LVL= 15856, 16305, 18162, 15731, AGC= 71, IDX=  28, 0.10,-2.180, 2.702,-1.996,-2.929, PHS= 0.851,-0.607, 0.889, RAW= 151.3, -15.2, CAL= 153.0, -17.3, ROT= 357.0,  17.3

2025-09-04T18:25:13.204Z,1757010313.204 [DAT](INFO): got valid direction response:
 18:25:11.1718 LVL= 15856, 16305, 18162, 15731, AGC= 71, IDX=  28, 0.10,-2.180, 2.702,-1.996,-2.929, PHS= 0.851,-0.607, 0.889, RAW= 151.3, -15.2, CAL= 153.0, -17.3, ROT= 357.0,  17.3

2025-09-04T18:25:13.205Z,1757010313.205 [DAT](INFO): DAT read: Bearing 309.2,   8.7 (Local)

2025-09-04T18:25:13.205Z,1757010313.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,   8.7 (Local)

2025-09-04T18:25:13.207Z,1757010313.207 [DAT](INFO): DAT read: Range 11 to 50 : 401.9 m  (Round-trip  535.9 ms) speed  0.5 m/s

2025-09-04T18:25:13.208Z,1757010313.208 [DAT](INFO): DAT read: user:2740>

2025-09-04T18:25:13.208Z,1757010313.208 [DAT](INFO): DAT read: Tx time:18:25:12.2818

2025-09-04T18:25:13.209Z,1757010313.209 [DAT](INFO): Ping request sent.
2025-09-04T18:25:13.209Z,1757010313.209 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:13.209Z,1757010313.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:13.210Z,1757010313.210 [DAT](INFO): direction in FSK: [0.953452,-0.049968,-0.297375]
2025-09-04T18:25:13.210Z,1757010313.210 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:13.211Z,1757010313.211 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:13.214Z,1757010313.214 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:13.214Z,1757010313.214 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:13.433Z,1757010313.433 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:25:13.567Z,1757010313.567 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, .77,     +2     -22.12,  20.00,  0.00
2025-09-04T18:25:13.637Z,1757010313.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 401.899994 m,
      deltaT: 4.281177 s,
      deltaX: 7.399994 m,
      approachRate: 1.728495 m/s,
      rangeRepo size: 4

2025-09-04T18:25:13.639Z,1757010313.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 400.145905 m,
      bearing: 160.808630 deg,
      lat: 36.779339 deg,
      lon: -121.859590 deg,
      deltaT: 4.281177 s,
      deltaX: 7.360687 m,
      approachRate: 1.719314 m/s,
      posRepo size: 4

2025-09-04T18:25:13.639Z,1757010313.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:13.647Z,1757010313.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 375.376099 m,
      bearing: 166.589881 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009960 deg/s,
      cmd heading: 163.713815 deg,
      new cmd heading: 163.704341 deg.

2025-09-04T18:25:13.648Z,1757010313.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857180 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:13.963Z,1757010313.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:13.982Z,1757010313.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 375.106659 m,
      bearing: 166.586142 deg,
      approach rate: -0.814118 m/s,
      LOS rate: -0.011306 deg/s,
      cmd heading: 163.704335 deg,
      new cmd heading: 163.696851 deg.

2025-09-04T18:25:13.983Z,1757010313.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.857049 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:14.379Z,1757010314.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:14.382Z,1757010314.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:14.385Z,1757010314.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 374.803986 m,
      bearing: 166.581916 deg,
      approach rate: -0.722385 m/s,
      LOS rate: -0.010094 deg/s,
      cmd heading: 163.696849 deg,
      new cmd heading: 163.688390 deg.

2025-09-04T18:25:14.386Z,1757010314.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856901 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:14.432Z,1757010314.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:25:14.457Z,1757010314.457 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:14.457Z,1757010314.457 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:14.457Z,1757010314.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:14.709Z,1757010314.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500219
2025-09-04T18:25:14.891Z,1757010314.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:14.910Z,1757010314.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 374.453308 m,
      bearing: 166.577011 deg,
      approach rate: -0.689176 m/s,
      LOS rate: -0.009648 deg/s,
      cmd heading: 163.688393 deg,
      new cmd heading: 163.678575 deg.

2025-09-04T18:25:14.911Z,1757010314.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856730 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:14.961Z,1757010314.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752236
2025-09-04T18:25:15.213Z,1757010315.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004282
2025-09-04T18:25:15.305Z,1757010315.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:15.325Z,1757010315.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 374.196075 m,
      bearing: 166.573324 deg,
      approach rate: -0.635276 m/s,
      LOS rate: -0.009111 deg/s,
      cmd heading: 163.678571 deg,
      new cmd heading: 163.671193 deg.

2025-09-04T18:25:15.326Z,1757010315.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856601 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:15.465Z,1757010315.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256366
2025-09-04T18:25:15.639Z,1757010315.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:15.642Z,1757010315.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 373.892914 m,
      bearing: 166.570012 deg,
      approach rate: -0.882546 m/s,
      LOS rate: -0.009652 deg/s,
      cmd heading: 163.671195 deg,
      new cmd heading: 163.664564 deg.

2025-09-04T18:25:15.643Z,1757010315.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856486 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:15.717Z,1757010315.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508395
2025-09-04T18:25:15.969Z,1757010315.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760506
2025-09-04T18:25:16.045Z,1757010316.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:16.049Z,1757010316.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 373.599884 m,
      bearing: 166.566777 deg,
      approach rate: -0.721515 m/s,
      LOS rate: -0.007971 deg/s,
      cmd heading: 163.664569 deg,
      new cmd heading: 163.658095 deg.

2025-09-04T18:25:16.050Z,1757010316.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856373 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:16.221Z,1757010316.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012060
2025-09-04T18:25:16.471Z,1757010316.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:16.475Z,1757010316.475 [DAT](INFO): DAT read: Rx Time:18:25:15.2043

2025-09-04T18:25:16.477Z,1757010316.477 [DAT](INFO): Rx dataTimestamp_ set to:1757010316.475461
2025-09-04T18:25:16.479Z,1757010316.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270091
2025-09-04T18:25:16.486Z,1757010316.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:16.506Z,1757010316.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 373.306641 m,
      bearing: 166.563845 deg,
      approach rate: -0.666355 m/s,
      LOS rate: -0.006667 deg/s,
      cmd heading: 163.658094 deg,
      new cmd heading: 163.652226 deg.

2025-09-04T18:25:16.507Z,1757010316.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856270 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:16.726Z,1757010316.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517222
2025-09-04T18:25:16.870Z,1757010316.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.15 m.
2025-09-04T18:25:16.873Z,1757010316.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 400.145905 m,
      nav range: 373.016510 m,
      bearing: 166.560907 deg,
      approach rate: -0.753339 m/s,
      LOS rate: -0.007635 deg/s,
      cmd heading: 163.652220 deg,
      new cmd heading: 163.646339 deg.

2025-09-04T18:25:16.877Z,1757010316.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856167 target range: 400.145905 and range: 401.90 m.
2025-09-04T18:25:16.981Z,1757010316.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771262
2025-09-04T18:25:17.235Z,1757010317.235 [DAT](INFO): DAT read: 18:25:15.2043 LVL= 14144, 19281, 17618, 20531, AGC= 70, IDX= 266, 0.14, 1.595, 0.172, 1.721, 0.819, PHS= 0.878,-0.602, 0.857, RAW= 149.3, -15.2, CAL= 150.9, -17.6, ROT= 359.1,  17.6

2025-09-04T18:25:17.236Z,1757010317.236 [DAT](INFO): got valid direction response:
 18:25:15.2043 LVL= 14144, 19281, 17618, 20531, AGC= 70, IDX= 266, 0.14, 1.595, 0.172, 1.721, 0.819, PHS= 0.878,-0.602, 0.857, RAW= 149.3, -15.2, CAL= 150.9, -17.6, ROT= 359.1,  17.6

2025-09-04T18:25:17.237Z,1757010317.237 [DAT](INFO): DAT read: Bearing 308.2,  10.7 (Local)

2025-09-04T18:25:17.238Z,1757010317.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,  10.7 (Local)

2025-09-04T18:25:17.239Z,1757010317.239 [DAT](INFO): DAT read: Range 11 to 50 : 388.8 m  (Round-trip  518.5 ms) speed  0.5 m/s

2025-09-04T18:25:17.240Z,1757010317.240 [DAT](INFO): DAT read: user:2741>

2025-09-04T18:25:17.241Z,1757010317.241 [DAT](INFO): DAT read: Tx time:18:25:16.3317

2025-09-04T18:25:17.241Z,1757010317.241 [DAT](INFO): Ping request sent.
2025-09-04T18:25:17.241Z,1757010317.241 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:17.241Z,1757010317.241 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:17.242Z,1757010317.242 [DAT](INFO): direction in FSK: [0.953073,-0.014972,-0.302370]
2025-09-04T18:25:17.242Z,1757010317.242 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:17.243Z,1757010317.243 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:17.246Z,1757010317.246 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:17.246Z,1757010317.246 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:17.262Z,1757010317.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 388.799988 m,
      deltaT: 4.031997 s,
      deltaX: -13.100006 m,
      approachRate: -3.249012 m/s,
      rangeRepo size: 4

2025-09-04T18:25:17.321Z,1757010317.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 387.101257 m,
      bearing: 163.189272 deg,
      lat: 36.779284 deg,
      lon: -121.859319 deg,
      deltaT: 4.031997 s,
      deltaX: -13.044647 m,
      approachRate: -3.235282 m/s,
      posRepo size: 4

2025-09-04T18:25:17.323Z,1757010317.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:17.357Z,1757010317.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 384.938416 m,
      bearing: 163.278974 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007635 deg/s,
      cmd heading: 163.646333 deg,
      new cmd heading: 163.640366 deg.

2025-09-04T18:25:17.358Z,1757010317.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.856063 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:17.738Z,1757010317.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:17.742Z,1757010317.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 384.585114 m,
      bearing: 163.272437 deg,
      approach rate: -0.740520 m/s,
      LOS rate: -0.013715 deg/s,
      cmd heading: 163.640363 deg,
      new cmd heading: 163.627277 deg.

2025-09-04T18:25:17.743Z,1757010317.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855835 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:18.050Z,1757010318.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:18.054Z,1757010318.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 384.349915 m,
      bearing: 163.268060 deg,
      approach rate: -0.753073 m/s,
      LOS rate: -0.014022 deg/s,
      cmd heading: 163.627277 deg,
      new cmd heading: 163.618518 deg.

2025-09-04T18:25:18.055Z,1757010318.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855682 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:18.534Z,1757010318.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:18.544Z,1757010318.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:18.547Z,1757010318.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 384.011841 m,
      bearing: 163.261725 deg,
      approach rate: -0.696590 m/s,
      LOS rate: -0.013066 deg/s,
      cmd heading: 163.618520 deg,
      new cmd heading: 163.605838 deg.

2025-09-04T18:25:18.548Z,1757010318.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855461 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:18.742Z,1757010318.742 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:18.742Z,1757010318.742 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:18.742Z,1757010318.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:18.894Z,1757010318.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:18.897Z,1757010318.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 383.765839 m,
      bearing: 163.257099 deg,
      approach rate: -0.687604 m/s,
      LOS rate: -0.012939 deg/s,
      cmd heading: 163.605843 deg,
      new cmd heading: 163.596585 deg.

2025-09-04T18:25:18.898Z,1757010318.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855299 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:18.994Z,1757010318.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752787
2025-09-04T18:25:19.245Z,1757010319.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084
2025-09-04T18:25:19.259Z,1757010319.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:19.262Z,1757010319.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 383.505798 m,
      bearing: 163.252187 deg,
      approach rate: -0.711357 m/s,
      LOS rate: -0.013444 deg/s,
      cmd heading: 163.596582 deg,
      new cmd heading: 163.586753 deg.

2025-09-04T18:25:19.263Z,1757010319.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.855127 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:19.498Z,1757010319.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257434
2025-09-04T18:25:19.741Z,1757010319.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:19.743Z,1757010319.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 383.171753 m,
      bearing: 163.245814 deg,
      approach rate: -0.693528 m/s,
      LOS rate: -0.013243 deg/s,
      cmd heading: 163.586746 deg,
      new cmd heading: 163.573989 deg.

2025-09-04T18:25:19.745Z,1757010319.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854905 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:19.749Z,1757010319.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508226
2025-09-04T18:25:20.002Z,1757010320.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760239
2025-09-04T18:25:20.150Z,1757010320.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:20.162Z,1757010320.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 382.893555 m,
      bearing: 163.240513 deg,
      approach rate: -0.680158 m/s,
      LOS rate: -0.012969 deg/s,
      cmd heading: 163.573987 deg,
      new cmd heading: 163.563378 deg.

2025-09-04T18:25:20.163Z,1757010320.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854719 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:20.253Z,1757010320.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012041
2025-09-04T18:25:20.506Z,1757010320.506 [DAT](INFO): DAT read: Rx Time:18:25:19.2505

2025-09-04T18:25:20.507Z,1757010320.507 [DAT](INFO): Rx dataTimestamp_ set to:1757010320.506182
2025-09-04T18:25:20.508Z,1757010320.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266674
2025-09-04T18:25:20.601Z,1757010320.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:20.603Z,1757010320.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:20.610Z,1757010320.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 382.572601 m,
      bearing: 163.233740 deg,
      approach rate: -0.708652 m/s,
      LOS rate: -0.014967 deg/s,
      cmd heading: 163.563373 deg,
      new cmd heading: 163.549816 deg.

2025-09-04T18:25:20.610Z,1757010320.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854483 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:20.757Z,1757010320.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516088
2025-09-04T18:25:20.946Z,1757010320.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m.
2025-09-04T18:25:20.949Z,1757010320.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 387.101257 m,
      nav range: 382.332489 m,
      bearing: 163.228699 deg,
      approach rate: -0.700058 m/s,
      LOS rate: -0.014708 deg/s,
      cmd heading: 163.549822 deg,
      new cmd heading: 163.539733 deg.

2025-09-04T18:25:20.950Z,1757010320.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854307 target range: 387.101257 and range: 388.80 m.
2025-09-04T18:25:21.014Z,1757010321.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772104
2025-09-04T18:25:21.267Z,1757010321.267 [DAT](INFO): DAT read: 18:25:19.2505 LVL= 26208, 32497, 26466, 32755, AGC= 69, IDX= 403, 0.22,-0.733,-2.405,-0.619,-1.070, PHS= 0.439,-1.290, 0.407, RAW= 149.1,   5.2, CAL= 148.4,   5.5, ROT=   1.6,  -5.5

2025-09-04T18:25:21.268Z,1757010321.268 [DAT](INFO): got valid direction response:
 18:25:19.2505 LVL= 26208, 32497, 26466, 32755, AGC= 69, IDX= 403, 0.22,-0.733,-2.405,-0.619,-1.070, PHS= 0.439,-1.290, 0.407, RAW= 149.1,   5.2, CAL= 148.4,   5.5, ROT=   1.6,  -5.5

2025-09-04T18:25:21.269Z,1757010321.269 [DAT](INFO): DAT read: Bearing 330.9,  12.9 (Local)

2025-09-04T18:25:21.270Z,1757010321.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.9,  12.9 (Local)

2025-09-04T18:25:21.271Z,1757010321.271 [DAT](INFO): DAT read: Range 11 to 50 : 386.0 m  (Round-trip  514.7 ms) speed  0.4 m/s

2025-09-04T18:25:21.272Z,1757010321.272 [DAT](INFO): DAT read: user:2742>

2025-09-04T18:25:21.273Z,1757010321.273 [DAT](INFO): DAT read: Tx time:18:25:20.3817

2025-09-04T18:25:21.273Z,1757010321.273 [DAT](INFO): Ping request sent.
2025-09-04T18:25:21.273Z,1757010321.273 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:21.273Z,1757010321.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:21.274Z,1757010321.274 [DAT](INFO): direction in FSK: [0.995008,0.027793,0.095846]
2025-09-04T18:25:21.274Z,1757010321.274 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:21.275Z,1757010321.275 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:21.278Z,1757010321.278 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:21.278Z,1757010321.278 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:21.457Z,1757010321.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 386.000000 m,
      deltaT: 4.032104 s,
      deltaX: -2.799988 m,
      approachRate: -0.694423 m/s,
      rangeRepo size: 4

2025-09-04T18:25:21.459Z,1757010321.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 384.304443 m,
      bearing: 166.260017 deg,
      lat: 36.779353 deg,
      lon: -121.859577 deg,
      deltaT: 4.032104 s,
      deltaX: -2.796814 m,
      approachRate: -0.693636 m/s,
      posRepo size: 4

2025-09-04T18:25:21.460Z,1757010321.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:21.467Z,1757010321.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 368.597046 m,
      bearing: 166.298491 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014708 deg/s,
      cmd heading: 163.539727 deg,
      new cmd heading: 163.524828 deg.

2025-09-04T18:25:21.473Z,1757010321.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.854047 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:21.797Z,1757010321.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:21.804Z,1757010321.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 368.345337 m,
      bearing: 166.295427 deg,
      approach rate: -0.729627 m/s,
      LOS rate: -0.008890 deg/s,
      cmd heading: 163.524824 deg,
      new cmd heading: 163.518690 deg.

2025-09-04T18:25:21.805Z,1757010321.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853940 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:22.166Z,1757010322.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:22.169Z,1757010322.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 368.069794 m,
      bearing: 166.292087 deg,
      approach rate: -0.746612 m/s,
      LOS rate: -0.009056 deg/s,
      cmd heading: 163.518690 deg,
      new cmd heading: 163.512006 deg.

2025-09-04T18:25:22.170Z,1757010322.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853823 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:22.588Z,1757010322.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:22.592Z,1757010322.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 367.769012 m,
      bearing: 166.288092 deg,
      approach rate: -0.712836 m/s,
      LOS rate: -0.009475 deg/s,
      cmd heading: 163.512010 deg,
      new cmd heading: 163.504014 deg.

2025-09-04T18:25:22.593Z,1757010322.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853683 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:22.967Z,1757010322.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:22.970Z,1757010322.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:22.977Z,1757010322.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 367.498260 m,
      bearing: 166.284536 deg,
      approach rate: -0.711055 m/s,
      LOS rate: -0.009345 deg/s,
      cmd heading: 163.504019 deg,
      new cmd heading: 163.496902 deg.

2025-09-04T18:25:22.979Z,1757010322.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853559 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:23.025Z,1757010323.025 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:23.025Z,1757010323.025 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:23.025Z,1757010323.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:23.277Z,1757010323.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004010
2025-09-04T18:25:23.501Z,1757010323.501 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +236.73,     +2825.   0.00
2025-09-04T18:25:23.529Z,1757010323.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256097
2025-09-04T18:25:23.543Z,1757010323.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:23.556Z,1757010323.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 367.106537 m,
      bearing: 166.279431 deg,
      approach rate: -0.682520 m/s,
      LOS rate: -0.008904 deg/s,
      cmd heading: 163.496902 deg,
      new cmd heading: 163.486681 deg.

2025-09-04T18:25:23.557Z,1757010323.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853381 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:23.781Z,1757010323.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507904
2025-09-04T18:25:23.940Z,1757010323.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:23.943Z,1757010323.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 366.806244 m,
      bearing: 166.275511 deg,
      approach rate: -0.756173 m/s,
      LOS rate: -0.009881 deg/s,
      cmd heading: 163.486684 deg,
      new cmd heading: 163.478836 deg.

2025-09-04T18:25:23.944Z,1757010323.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853244 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:24.033Z,1757010324.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760085
2025-09-04T18:25:24.103Z,1757010324.103 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-09-04T18:25:24.104Z,1757010324.104 [DockingStepper] No Fault, FailCount= 1
2025-09-04T18:25:24.285Z,1757010324.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011972
2025-09-04T18:25:24.336Z,1757010324.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:24.339Z,1757010324.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 366.535522 m,
      bearing: 166.271988 deg,
      approach rate: -0.690153 m/s,
      LOS rate: -0.008986 deg/s,
      cmd heading: 163.478843 deg,
      new cmd heading: 163.471793 deg.

2025-09-04T18:25:24.345Z,1757010324.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.853121 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:24.393Z,1757010324.393 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-04T18:25:24.514Z,1757010324.514 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-04T18:25:24.538Z,1757010324.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264502
2025-09-04T18:25:24.756Z,1757010324.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:24.759Z,1757010324.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 366.224243 m,
      bearing: 166.267913 deg,
      approach rate: -0.741929 m/s,
      LOS rate: -0.009722 deg/s,
      cmd heading: 163.471794 deg,
      new cmd heading: 163.463636 deg.

2025-09-04T18:25:24.760Z,1757010324.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852979 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:24.795Z,1757010324.795 [DAT](INFO): DAT read: 18:25:23.2971 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 255, 0.24, 0.550,-1.144, 0.587, 0.127, PHS= 0.525,-1.226, 0.416, RAW= 146.8,   3.4, CAL= 146.2,   3.6, ROT=   3.8,  -3.6

2025-09-04T18:25:24.796Z,1757010324.796 [DAT](INFO): got valid direction response:
 18:25:23.2971 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 255, 0.24, 0.550,-1.144, 0.587, 0.127, PHS= 0.525,-1.226, 0.416, RAW= 146.8,   3.4, CAL= 146.2,   3.6, ROT=   3.8,  -3.6

2025-09-04T18:25:24.797Z,1757010324.797 [DAT](INFO): DAT read: Rx Time:18:25:23.2971

2025-09-04T18:25:24.798Z,1757010324.798 [DAT](INFO): Rx dataTimestamp_ set to:1757010324.797313
2025-09-04T18:25:24.798Z,1757010324.798 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-04T18:25:24.799Z,1757010324.799 [DAT](INFO): Received low SNR in chirp
2025-09-04T18:25:24.813Z,1757010324.813 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:25:24.814Z,1757010324.814 [DAT](INFO): direction in FSK: [0.995833,0.066143,0.062791]
2025-09-04T18:25:24.818Z,1757010324.818 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:24.818Z,1757010324.818 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:24.818Z,1757010324.818 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:25.041Z,1757010325.041 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:25.041Z,1757010325.041 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:25.041Z,1757010325.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:25.150Z,1757010325.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:25.152Z,1757010325.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:25.155Z,1757010325.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 365.943054 m,
      bearing: 166.264234 deg,
      approach rate: -0.702542 m/s,
      LOS rate: -0.009199 deg/s,
      cmd heading: 163.463639 deg,
      new cmd heading: 163.456275 deg.

2025-09-04T18:25:25.156Z,1757010325.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852850 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:25.293Z,1757010325.293 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:25.293Z,1757010325.293 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:25.293Z,1757010325.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:25.545Z,1757010325.545 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:25.545Z,1757010325.545 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:25.545Z,1757010325.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:25.601Z,1757010325.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:25.620Z,1757010325.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 365.606506 m,
      bearing: 166.260141 deg,
      approach rate: -0.749655 m/s,
      LOS rate: -0.009125 deg/s,
      cmd heading: 163.456276 deg,
      new cmd heading: 163.448082 deg.

2025-09-04T18:25:25.621Z,1757010325.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852707 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:25.800Z,1757010325.800 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:25.800Z,1757010325.800 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:25.800Z,1757010325.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:26.050Z,1757010326.050 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:26.050Z,1757010326.050 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:26.050Z,1757010326.050 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:26.183Z,1757010326.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:26.187Z,1757010326.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 365.183228 m,
      bearing: 166.255005 deg,
      approach rate: -0.726698 m/s,
      LOS rate: -0.008827 deg/s,
      cmd heading: 163.448080 deg,
      new cmd heading: 163.437796 deg.

2025-09-04T18:25:26.188Z,1757010326.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852528 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:26.301Z,1757010326.301 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:26.301Z,1757010326.301 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:26.301Z,1757010326.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:26.553Z,1757010326.553 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:26.553Z,1757010326.553 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:26.553Z,1757010326.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:26.645Z,1757010326.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:26.647Z,1757010326.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 364.863281 m,
      bearing: 166.251761 deg,
      approach rate: -0.693619 m/s,
      LOS rate: -0.007038 deg/s,
      cmd heading: 163.437793 deg,
      new cmd heading: 163.431300 deg.

2025-09-04T18:25:26.649Z,1757010326.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852414 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:26.805Z,1757010326.805 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:26.805Z,1757010326.805 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:26.805Z,1757010326.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:27.006Z,1757010327.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:27.010Z,1757010327.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 364.588745 m,
      bearing: 166.248983 deg,
      approach rate: -0.758964 m/s,
      LOS rate: -0.007687 deg/s,
      cmd heading: 163.431305 deg,
      new cmd heading: 163.425744 deg.

2025-09-04T18:25:27.011Z,1757010327.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852317 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:27.057Z,1757010327.057 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:27.057Z,1757010327.057 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:27.057Z,1757010327.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:27.309Z,1757010327.309 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:27.309Z,1757010327.309 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:27.309Z,1757010327.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:27.398Z,1757010327.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:27.400Z,1757010327.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:27.403Z,1757010327.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 364.305298 m,
      bearing: 166.246109 deg,
      approach rate: -0.720409 m/s,
      LOS rate: -0.007309 deg/s,
      cmd heading: 163.425745 deg,
      new cmd heading: 163.419993 deg.

2025-09-04T18:25:27.404Z,1757010327.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852217 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:27.561Z,1757010327.561 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:27.561Z,1757010327.561 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:27.561Z,1757010327.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:27.813Z,1757010327.813 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:27.813Z,1757010327.813 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:27.813Z,1757010327.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:27.827Z,1757010327.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:27.831Z,1757010327.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 363.994263 m,
      bearing: 166.242300 deg,
      approach rate: -0.727602 m/s,
      LOS rate: -0.008919 deg/s,
      cmd heading: 163.419994 deg,
      new cmd heading: 163.412368 deg.

2025-09-04T18:25:27.832Z,1757010327.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.852084 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:28.065Z,1757010328.065 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:28.065Z,1757010328.065 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:28.065Z,1757010328.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:28.192Z,1757010328.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:28.195Z,1757010328.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 363.727997 m,
      bearing: 166.239078 deg,
      approach rate: -0.730248 m/s,
      LOS rate: -0.008843 deg/s,
      cmd heading: 163.412372 deg,
      new cmd heading: 163.405923 deg.

2025-09-04T18:25:28.196Z,1757010328.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851971 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:28.317Z,1757010328.317 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:28.317Z,1757010328.317 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:28.317Z,1757010328.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:28.376Z,1757010328.376 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:25:28.569Z,1757010328.569 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:28.569Z,1757010328.569 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:28.569Z,1757010328.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:28.648Z,1757010328.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:28.651Z,1757010328.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 363.395996 m,
      bearing: 166.234310 deg,
      approach rate: -0.728102 m/s,
      LOS rate: -0.010466 deg/s,
      cmd heading: 163.405924 deg,
      new cmd heading: 163.396380 deg.

2025-09-04T18:25:28.652Z,1757010328.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851805 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:28.821Z,1757010328.821 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:28.821Z,1757010328.821 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:28.821Z,1757010328.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:29.010Z,1757010329.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:29.013Z,1757010329.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 363.132721 m,
      bearing: 166.230535 deg,
      approach rate: -0.727069 m/s,
      LOS rate: -0.010432 deg/s,
      cmd heading: 163.396375 deg,
      new cmd heading: 163.388820 deg.

2025-09-04T18:25:29.014Z,1757010329.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851673 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:29.073Z,1757010329.073 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:29.073Z,1757010329.073 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:29.073Z,1757010329.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:29.325Z,1757010329.325 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:29.325Z,1757010329.325 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:29.325Z,1757010329.325 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:29.577Z,1757010329.577 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:29.577Z,1757010329.577 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:29.577Z,1757010329.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:29.581Z,1757010329.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:29.583Z,1757010329.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:29.586Z,1757010329.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 362.720612 m,
      bearing: 166.224323 deg,
      approach rate: -0.718994 m/s,
      LOS rate: -0.010851 deg/s,
      cmd heading: 163.388821 deg,
      new cmd heading: 163.376382 deg.

2025-09-04T18:25:29.587Z,1757010329.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851456 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:29.829Z,1757010329.829 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:29.829Z,1757010329.829 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:29.829Z,1757010329.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:30.058Z,1757010330.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:30.061Z,1757010330.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 362.376801 m,
      bearing: 166.219170 deg,
      approach rate: -0.724287 m/s,
      LOS rate: -0.010866 deg/s,
      cmd heading: 163.376376 deg,
      new cmd heading: 163.366061 deg.

2025-09-04T18:25:30.062Z,1757010330.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851276 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:30.081Z,1757010330.081 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:30.081Z,1757010330.081 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:30.081Z,1757010330.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:30.333Z,1757010330.333 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:30.333Z,1757010330.333 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:30.333Z,1757010330.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:30.439Z,1757010330.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:30.442Z,1757010330.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 362.102081 m,
      bearing: 166.215081 deg,
      approach rate: -0.721616 m/s,
      LOS rate: -0.010748 deg/s,
      cmd heading: 163.366063 deg,
      new cmd heading: 163.357880 deg.

2025-09-04T18:25:30.443Z,1757010330.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.851133 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:30.586Z,1757010330.586 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:30.586Z,1757010330.586 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:30.586Z,1757010330.586 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:30.837Z,1757010330.837 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:30.837Z,1757010330.837 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:30.837Z,1757010330.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:30.956Z,1757010330.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:30.963Z,1757010330.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 361.757080 m,
      bearing: 166.209834 deg,
      approach rate: -0.674281 m/s,
      LOS rate: -0.010265 deg/s,
      cmd heading: 163.357880 deg,
      new cmd heading: 163.347376 deg.

2025-09-04T18:25:30.969Z,1757010330.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850950 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:31.089Z,1757010331.089 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:31.089Z,1757010331.089 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:31.089Z,1757010331.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:25:31.341Z,1757010331.341 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:31.341Z,1757010331.341 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:31.341Z,1757010331.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:31.392Z,1757010331.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:31.403Z,1757010331.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 361.436249 m,
      bearing: 166.205013 deg,
      approach rate: -0.727118 m/s,
      LOS rate: -0.010936 deg/s,
      cmd heading: 163.347375 deg,
      new cmd heading: 163.337725 deg.

2025-09-04T18:25:31.404Z,1757010331.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850781 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:31.593Z,1757010331.593 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:31.593Z,1757010331.593 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:31.594Z,1757010331.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:31.798Z,1757010331.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:31.800Z,1757010331.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:31.807Z,1757010331.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 361.153015 m,
      bearing: 166.200721 deg,
      approach rate: -0.694193 m/s,
      LOS rate: -0.010527 deg/s,
      cmd heading: 163.337731 deg,
      new cmd heading: 163.329141 deg.

2025-09-04T18:25:31.808Z,1757010331.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850631 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:31.845Z,1757010331.845 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:31.845Z,1757010331.845 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:31.845Z,1757010331.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:32.099Z,1757010332.099 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:32.099Z,1757010332.099 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:32.099Z,1757010332.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:32.180Z,1757010332.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:32.183Z,1757010332.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 360.867188 m,
      bearing: 166.196396 deg,
      approach rate: -0.752317 m/s,
      LOS rate: -0.011395 deg/s,
      cmd heading: 163.329139 deg,
      new cmd heading: 163.320480 deg.

2025-09-04T18:25:32.184Z,1757010332.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850480 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:32.349Z,1757010332.349 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:32.349Z,1757010332.349 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:32.349Z,1757010332.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:32.601Z,1757010332.601 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:32.601Z,1757010332.601 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:32.601Z,1757010332.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:32.654Z,1757010332.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:32.674Z,1757010332.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 360.524353 m,
      bearing: 166.191778 deg,
      approach rate: -0.722199 m/s,
      LOS rate: -0.009737 deg/s,
      cmd heading: 163.320478 deg,
      new cmd heading: 163.311234 deg.

2025-09-04T18:25:32.675Z,1757010332.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850319 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:32.853Z,1757010332.853 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:32.853Z,1757010332.853 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:32.853Z,1757010332.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:32.990Z,1757010332.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:32.993Z,1757010332.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 360.282379 m,
      bearing: 166.188537 deg,
      approach rate: -0.720229 m/s,
      LOS rate: -0.009652 deg/s,
      cmd heading: 163.311230 deg,
      new cmd heading: 163.304745 deg.

2025-09-04T18:25:32.994Z,1757010332.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850205 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:33.105Z,1757010333.105 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:33.105Z,1757010333.105 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:33.105Z,1757010333.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:33.357Z,1757010333.357 [DAT](INFO): Reached modem response timeout
2025-09-04T18:25:33.357Z,1757010333.357 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:25:33.357Z,1757010333.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:33.378Z,1757010333.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:33.380Z,1757010333.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 360.003571 m,
      bearing: 166.184840 deg,
      approach rate: -0.719712 m/s,
      LOS rate: -0.009550 deg/s,
      cmd heading: 163.304741 deg,
      new cmd heading: 163.297342 deg.

2025-09-04T18:25:33.381Z,1757010333.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.850076 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:33.609Z,1757010333.609 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:25:33.610Z,1757010333.610 [DAT](INFO): response not received
2025-09-04T18:25:33.610Z,1757010333.610 [DAT](INFO): DAT read: user:2744>

2025-09-04T18:25:33.611Z,1757010333.611 [DAT](INFO): DAT read: Tx time:18:25:32.8317

2025-09-04T18:25:33.611Z,1757010333.611 [DAT](INFO): Ping request sent.
2025-09-04T18:25:33.611Z,1757010333.611 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:33.611Z,1757010333.611 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:33.613Z,1757010333.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001455
2025-09-04T18:25:33.802Z,1757010333.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:33.804Z,1757010333.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:33.807Z,1757010333.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 359.701569 m,
      bearing: 166.180232 deg,
      approach rate: -0.708225 m/s,
      LOS rate: -0.010817 deg/s,
      cmd heading: 163.297337 deg,
      new cmd heading: 163.288112 deg.

2025-09-04T18:25:33.808Z,1757010333.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849915 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:33.861Z,1757010333.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250107
2025-09-04T18:25:34.115Z,1757010334.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503368
2025-09-04T18:25:34.177Z,1757010334.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:34.180Z,1757010334.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 359.436279 m,
      bearing: 166.176151 deg,
      approach rate: -0.710323 m/s,
      LOS rate: -0.010934 deg/s,
      cmd heading: 163.288117 deg,
      new cmd heading: 163.279950 deg.

2025-09-04T18:25:34.181Z,1757010334.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849773 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:34.365Z,1757010334.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753805
2025-09-04T18:25:34.617Z,1757010334.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005996
2025-09-04T18:25:34.677Z,1757010334.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:34.680Z,1757010334.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 359.083740 m,
      bearing: 166.171397 deg,
      approach rate: -0.706028 m/s,
      LOS rate: -0.009530 deg/s,
      cmd heading: 163.279948 deg,
      new cmd heading: 163.270430 deg.

2025-09-04T18:25:34.685Z,1757010334.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849607 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:34.869Z,1757010334.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257863
2025-09-04T18:25:35.049Z,1757010335.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:35.052Z,1757010335.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 358.800201 m,
      bearing: 166.167567 deg,
      approach rate: -0.761060 m/s,
      LOS rate: -0.010290 deg/s,
      cmd heading: 163.270427 deg,
      new cmd heading: 163.262759 deg.

2025-09-04T18:25:35.053Z,1757010335.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849473 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:35.121Z,1757010335.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509994
2025-09-04T18:25:35.373Z,1757010335.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762034
2025-09-04T18:25:35.452Z,1757010335.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:35.459Z,1757010335.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 358.516296 m,
      bearing: 166.163798 deg,
      approach rate: -0.706483 m/s,
      LOS rate: -0.009386 deg/s,
      cmd heading: 163.262763 deg,
      new cmd heading: 163.255219 deg.

2025-09-04T18:25:35.461Z,1757010335.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849341 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:35.625Z,1757010335.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013821
2025-09-04T18:25:35.857Z,1757010335.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:35.859Z,1757010335.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:35.862Z,1757010335.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 358.212708 m,
      bearing: 166.160092 deg,
      approach rate: -0.743678 m/s,
      LOS rate: -0.009086 deg/s,
      cmd heading: 163.255223 deg,
      new cmd heading: 163.247804 deg.

2025-09-04T18:25:35.863Z,1757010335.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849212 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:35.877Z,1757010335.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265825
2025-09-04T18:25:36.132Z,1757010336.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520433
2025-09-04T18:25:36.255Z,1757010336.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:36.259Z,1757010336.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 357.926788 m,
      bearing: 166.156595 deg,
      approach rate: -0.721947 m/s,
      LOS rate: -0.008835 deg/s,
      cmd heading: 163.247805 deg,
      new cmd heading: 163.240807 deg.

2025-09-04T18:25:36.260Z,1757010336.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.849090 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:36.385Z,1757010336.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773981
2025-09-04T18:25:36.640Z,1757010336.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027953
2025-09-04T18:25:36.698Z,1757010336.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:36.701Z,1757010336.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 357.609924 m,
      bearing: 166.152871 deg,
      approach rate: -0.716563 m/s,
      LOS rate: -0.008430 deg/s,
      cmd heading: 163.240811 deg,
      new cmd heading: 163.233356 deg.

2025-09-04T18:25:36.702Z,1757010336.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848959 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:36.889Z,1757010336.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277833
2025-09-04T18:25:37.052Z,1757010337.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:37.055Z,1757010337.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 357.356232 m,
      bearing: 166.149902 deg,
      approach rate: -0.716496 m/s,
      LOS rate: -0.008390 deg/s,
      cmd heading: 163.233352 deg,
      new cmd heading: 163.227411 deg.

2025-09-04T18:25:37.056Z,1757010337.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848856 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:37.142Z,1757010337.142 [DAT](INFO): DAT read: Rx Time:18:25:35.7505

2025-09-04T18:25:37.143Z,1757010337.143 [DAT](INFO): Rx dataTimestamp_ set to:1757010337.142347
2025-09-04T18:25:37.144Z,1757010337.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532229
2025-09-04T18:25:37.393Z,1757010337.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781885
2025-09-04T18:25:37.495Z,1757010337.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:37.519Z,1757010337.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.304443 m,
      nav range: 357.060181 m,
      bearing: 166.146466 deg,
      approach rate: -0.667828 m/s,
      LOS rate: -0.007758 deg/s,
      cmd heading: 163.227410 deg,
      new cmd heading: 163.220532 deg.

2025-09-04T18:25:37.528Z,1757010337.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848736 target range: 384.304443 and range: 386.00 m.
2025-09-04T18:25:37.652Z,1757010337.652 [DAT](INFO): DAT read: 18:25:35.7505 LVL= 26160, 26977, 23698, 28403, AGC= 69, IDX= 483,-0.42, 2.296, 0.961, 2.500, 1.459, PHS= 0.939,-0.453, 0.997, RAW= 152.0, -20.2, CAL= 154.1, -22.2, ROT= 355.9,  22.2

2025-09-04T18:25:37.653Z,1757010337.653 [DAT](INFO): got valid direction response:
 18:25:35.7505 LVL= 26160, 26977, 23698, 28403, AGC= 69, IDX= 483,-0.42, 2.296, 0.961, 2.500, 1.459, PHS= 0.939,-0.453, 0.997, RAW= 152.0, -20.2, CAL= 154.1, -22.2, ROT= 355.9,  22.2

2025-09-04T18:25:37.654Z,1757010337.654 [DAT](INFO): DAT read: Bearing 298.2,   8.1 (Local)

2025-09-04T18:25:37.654Z,1757010337.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.2,   8.1 (Local)

2025-09-04T18:25:37.656Z,1757010337.656 [DAT](INFO): DAT read: Range 11 to 50 : 386.0 m  (Round-trip  514.7 ms) speed  0.3 m/s

2025-09-04T18:25:37.657Z,1757010337.657 [DAT](INFO): DAT read: user:2745>

2025-09-04T18:25:37.657Z,1757010337.657 [DAT](INFO): DAT read: Tx time:18:25:36.8817

2025-09-04T18:25:37.658Z,1757010337.658 [DAT](INFO): Ping request sent.
2025-09-04T18:25:37.658Z,1757010337.658 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:37.658Z,1757010337.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:37.659Z,1757010337.659 [DAT](INFO): direction in FSK: [0.923501,-0.066198,-0.377841]
2025-09-04T18:25:37.659Z,1757010337.659 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:37.659Z,1757010337.659 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:37.663Z,1757010337.663 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:37.663Z,1757010337.663 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:38.066Z,1757010338.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 386.000000 m,
      deltaT: 16.384594 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:25:38.068Z,1757010338.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 384.297455 m,
      bearing: 158.923142 deg,
      lat: 36.779289 deg,
      lon: -121.859312 deg,
      deltaT: 16.384594 s,
      deltaX: -0.006989 m,
      approachRate: -0.000427 m/s,
      posRepo size: 4

2025-09-04T18:25:38.069Z,1757010338.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:38.071Z,1757010338.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 369.742981 m,
      bearing: 162.850621 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007758 deg/s,
      cmd heading: 163.220539 deg,
      new cmd heading: 163.211692 deg.

2025-09-04T18:25:38.073Z,1757010338.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848581 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:38.511Z,1757010338.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:38.522Z,1757010338.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:38.533Z,1757010338.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 369.478607 m,
      bearing: 162.845220 deg,
      approach rate: -0.579391 m/s,
      LOS rate: -0.011846 deg/s,
      cmd heading: 163.211687 deg,
      new cmd heading: 163.200877 deg.

2025-09-04T18:25:38.534Z,1757010338.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848393 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:38.655Z,1757010338.655 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:38.655Z,1757010338.655 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:38.656Z,1757010338.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:38.906Z,1757010338.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247823
2025-09-04T18:25:38.965Z,1757010338.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:38.973Z,1757010338.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 369.114380 m,
      bearing: 162.838126 deg,
      approach rate: -0.820801 m/s,
      LOS rate: -0.016001 deg/s,
      cmd heading: 163.200882 deg,
      new cmd heading: 163.186681 deg.

2025-09-04T18:25:38.974Z,1757010338.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.848145 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:39.157Z,1757010339.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499211
2025-09-04T18:25:39.325Z,1757010339.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:39.328Z,1757010339.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 368.827332 m,
      bearing: 162.832540 deg,
      approach rate: -0.798888 m/s,
      LOS rate: -0.015560 deg/s,
      cmd heading: 163.186675 deg,
      new cmd heading: 163.175493 deg.

2025-09-04T18:25:39.329Z,1757010339.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847950 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:39.410Z,1757010339.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752250
2025-09-04T18:25:39.663Z,1757010339.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005220
2025-09-04T18:25:39.827Z,1757010339.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:39.830Z,1757010339.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 368.462006 m,
      bearing: 162.826120 deg,
      approach rate: -0.727929 m/s,
      LOS rate: -0.012804 deg/s,
      cmd heading: 163.175487 deg,
      new cmd heading: 163.162635 deg.

2025-09-04T18:25:39.831Z,1757010339.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847725 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:39.917Z,1757010339.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255883
2025-09-04T18:25:40.165Z,1757010340.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507444
2025-09-04T18:25:40.171Z,1757010340.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:40.174Z,1757010340.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 368.213318 m,
      bearing: 162.821807 deg,
      approach rate: -0.722253 m/s,
      LOS rate: -0.012535 deg/s,
      cmd heading: 163.162632 deg,
      new cmd heading: 163.154000 deg.

2025-09-04T18:25:40.175Z,1757010340.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847574 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:40.418Z,1757010340.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759914
2025-09-04T18:25:40.569Z,1757010340.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:40.571Z,1757010340.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:40.574Z,1757010340.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 367.920471 m,
      bearing: 162.816726 deg,
      approach rate: -0.731121 m/s,
      LOS rate: -0.012693 deg/s,
      cmd heading: 163.153999 deg,
      new cmd heading: 163.143831 deg.

2025-09-04T18:25:40.575Z,1757010340.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847397 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:40.673Z,1757010340.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013964
2025-09-04T18:25:40.923Z,1757010340.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264828
2025-09-04T18:25:41.051Z,1757010341.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:41.055Z,1757010341.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 367.570160 m,
      bearing: 162.810478 deg,
      approach rate: -0.729838 m/s,
      LOS rate: -0.013031 deg/s,
      cmd heading: 163.143836 deg,
      new cmd heading: 163.131326 deg.

2025-09-04T18:25:41.056Z,1757010341.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847179 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:41.173Z,1757010341.173 [DAT](INFO): DAT read: Rx Time:18:25:39.7974

2025-09-04T18:25:41.174Z,1757010341.174 [DAT](INFO): Rx dataTimestamp_ set to:1757010341.173390
2025-09-04T18:25:41.174Z,1757010341.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516511
2025-09-04T18:25:41.379Z,1757010341.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.30 m.
2025-09-04T18:25:41.382Z,1757010341.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.297455 m,
      nav range: 367.330048 m,
      bearing: 162.806190 deg,
      approach rate: -0.733210 m/s,
      LOS rate: -0.013101 deg/s,
      cmd heading: 163.131323 deg,
      new cmd heading: 163.122742 deg.

2025-09-04T18:25:41.383Z,1757010341.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.847029 target range: 384.297455 and range: 386.00 m.
2025-09-04T18:25:41.426Z,1757010341.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768137
2025-09-04T18:25:41.706Z,1757010341.706 [DAT](INFO): DAT read: 18:25:39.7974 LVL= 19984, 25441, 21394, 26019, AGC= 70, IDX= 403, 0.27, 2.707, 1.251, 2.786, 1.783, PHS= 1.026,-0.487, 0.959, RAW= 147.8, -19.7, CAL= 149.4, -22.1, ROT=   0.6,  22.1

2025-09-04T18:25:41.710Z,1757010341.710 [DAT](INFO): got valid direction response:
 18:25:39.7974 LVL= 19984, 25441, 21394, 26019, AGC= 70, IDX= 403, 0.27, 2.707, 1.251, 2.786, 1.783, PHS= 1.026,-0.487, 0.959, RAW= 147.8, -19.7, CAL= 149.4, -22.1, ROT=   0.6,  22.1

2025-09-04T18:25:41.711Z,1757010341.711 [DAT](INFO): DAT read: Bearing 297.4,  12.7 (Local)

2025-09-04T18:25:41.711Z,1757010341.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.4,  12.7 (Local)

2025-09-04T18:25:41.713Z,1757010341.713 [DAT](INFO): DAT read: Range 11 to 50 : 383.7 m  (Round-trip  511.6 ms) speed  0.6 m/s

2025-09-04T18:25:41.714Z,1757010341.714 [DAT](INFO): DAT read: user:2746>

2025-09-04T18:25:41.714Z,1757010341.714 [DAT](INFO): DAT read: Tx time:18:25:40.8817

2025-09-04T18:25:41.715Z,1757010341.715 [DAT](INFO): Ping request sent.
2025-09-04T18:25:41.715Z,1757010341.715 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:41.715Z,1757010341.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:41.758Z,1757010341.758 [DAT](INFO): direction in FSK: [0.926478,0.009702,-0.376224]
2025-09-04T18:25:41.759Z,1757010341.759 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:41.759Z,1757010341.759 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:41.781Z,1757010341.781 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:41.781Z,1757010341.781 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:41.874Z,1757010341.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 383.700012 m,
      deltaT: 4.032941 s,
      deltaX: -2.299988 m,
      approachRate: -0.570300 m/s,
      rangeRepo size: 4

2025-09-04T18:25:41.880Z,1757010341.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 382.004974 m,
      bearing: 163.241152 deg,
      lat: 36.779284 deg,
      lon: -121.859311 deg,
      deltaT: 4.032941 s,
      deltaX: -2.292480 m,
      approachRate: -0.568439 m/s,
      posRepo size: 4

2025-09-04T18:25:41.881Z,1757010341.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:41.883Z,1757010341.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 367.581696 m,
      bearing: 162.811017 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013101 deg/s,
      cmd heading: 163.122744 deg,
      new cmd heading: 163.109789 deg.

2025-09-04T18:25:41.893Z,1757010341.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846803 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:42.236Z,1757010342.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:42.239Z,1757010342.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 367.308319 m,
      bearing: 162.805823 deg,
      approach rate: -0.753942 m/s,
      LOS rate: -0.014335 deg/s,
      cmd heading: 163.109794 deg,
      new cmd heading: 163.099398 deg.

2025-09-04T18:25:42.241Z,1757010342.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846622 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:42.643Z,1757010342.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:42.646Z,1757010342.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:42.649Z,1757010342.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 367.006409 m,
      bearing: 162.800085 deg,
      approach rate: -0.737046 m/s,
      LOS rate: -0.014021 deg/s,
      cmd heading: 163.099399 deg,
      new cmd heading: 163.087912 deg.

2025-09-04T18:25:42.650Z,1757010342.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846421 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:42.687Z,1757010342.687 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:42.687Z,1757010342.687 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:42.688Z,1757010342.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:42.939Z,1757010342.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223654
2025-09-04T18:25:43.074Z,1757010343.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:43.077Z,1757010343.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 366.693909 m,
      bearing: 162.794607 deg,
      approach rate: -0.729801 m/s,
      LOS rate: -0.012804 deg/s,
      cmd heading: 163.087910 deg,
      new cmd heading: 163.076945 deg.

2025-09-04T18:25:43.078Z,1757010343.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846230 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:43.189Z,1757010343.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474377
2025-09-04T18:25:43.443Z,1757010343.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727441
2025-09-04T18:25:43.521Z,1757010343.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:43.540Z,1757010343.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 366.367249 m,
      bearing: 162.788907 deg,
      approach rate: -0.729572 m/s,
      LOS rate: -0.012740 deg/s,
      cmd heading: 163.076941 deg,
      new cmd heading: 163.065532 deg.

2025-09-04T18:25:43.541Z,1757010343.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.846030 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:43.696Z,1757010343.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981059
2025-09-04T18:25:43.896Z,1757010343.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:43.898Z,1757010343.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 366.097961 m,
      bearing: 162.783501 deg,
      approach rate: -0.719659 m/s,
      LOS rate: -0.014458 deg/s,
      cmd heading: 163.065535 deg,
      new cmd heading: 163.054714 deg.

2025-09-04T18:25:43.899Z,1757010343.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845842 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:43.945Z,1757010343.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230327
2025-09-04T18:25:44.197Z,1757010344.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482134
2025-09-04T18:25:44.307Z,1757010344.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:44.310Z,1757010344.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 365.802185 m,
      bearing: 162.777538 deg,
      approach rate: -0.719714 m/s,
      LOS rate: -0.014523 deg/s,
      cmd heading: 163.054715 deg,
      new cmd heading: 163.042779 deg.

2025-09-04T18:25:44.311Z,1757010344.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845633 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:44.451Z,1757010344.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735703
2025-09-04T18:25:44.564Z,1757010344.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:25:44.673Z,1757010344.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:44.675Z,1757010344.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:44.678Z,1757010344.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 365.537659 m,
      bearing: 162.772231 deg,
      approach rate: -0.717344 m/s,
      LOS rate: -0.014401 deg/s,
      cmd heading: 163.042776 deg,
      new cmd heading: 163.032156 deg.

2025-09-04T18:25:44.679Z,1757010344.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845448 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:44.705Z,1757010344.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989806
2025-09-04T18:25:44.956Z,1757010344.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240849
2025-09-04T18:25:45.109Z,1757010345.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:45.113Z,1757010345.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 365.223206 m,
      bearing: 162.765847 deg,
      approach rate: -0.724782 m/s,
      LOS rate: -0.014728 deg/s,
      cmd heading: 163.032162 deg,
      new cmd heading: 163.019383 deg.

2025-09-04T18:25:45.114Z,1757010345.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845225 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:45.205Z,1757010345.205 [DAT](INFO): DAT read: Rx Time:18:25:43.7931

2025-09-04T18:25:45.206Z,1757010345.206 [DAT](INFO): Rx dataTimestamp_ set to:1757010345.205370
2025-09-04T18:25:45.206Z,1757010345.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491393
2025-09-04T18:25:45.457Z,1757010345.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742385
2025-09-04T18:25:45.541Z,1757010345.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 382.00 m.
2025-09-04T18:25:45.565Z,1757010345.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 382.004974 m,
      nav range: 364.942657 m,
      bearing: 162.760136 deg,
      approach rate: -0.649506 m/s,
      LOS rate: -0.013231 deg/s,
      cmd heading: 163.019376 deg,
      new cmd heading: 163.007946 deg.

2025-09-04T18:25:45.569Z,1757010345.569 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:25:45.577Z,1757010345.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.845025 target range: 382.004974 and range: 383.70 m.
2025-09-04T18:25:45.730Z,1757010345.730 [DAT](INFO): DAT read: 18:25:43.7931 LVL= 29296, 32753, 31618, 32755, AGC= 70, IDX= 392,-0.07,-2.674, 2.195,-2.583, 2.648, PHS= 1.063,-0.408, 1.008, RAW= 148.1, -22.1, CAL= 149.7, -24.1, ROT=   0.3,  24.1

2025-09-04T18:25:45.740Z,1757010345.740 [DAT](INFO): got valid direction response:
 18:25:43.7931 LVL= 29296, 32753, 31618, 32755, AGC= 70, IDX= 392,-0.07,-2.674, 2.195,-2.583, 2.648, PHS= 1.063,-0.408, 1.008, RAW= 148.1, -22.1, CAL= 149.7, -24.1, ROT=   0.3,  24.1

2025-09-04T18:25:45.743Z,1757010345.743 [DAT](INFO): DAT read: Bearing 294.6,  12.5 (Local)

2025-09-04T18:25:45.761Z,1757010345.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.6,  12.5 (Local)

2025-09-04T18:25:45.769Z,1757010345.769 [DAT](INFO): DAT read: Range 11 to 50 : 380.5 m  (Round-trip  507.4 ms) speed  0.6 m/s

2025-09-04T18:25:45.769Z,1757010345.769 [DAT](INFO): DAT read: user:2747>

2025-09-04T18:25:45.770Z,1757010345.770 [DAT](INFO): DAT read: Tx time:18:25:44.8816

2025-09-04T18:25:45.770Z,1757010345.770 [DAT](INFO): Ping request sent.
2025-09-04T18:25:45.771Z,1757010345.771 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:45.771Z,1757010345.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:45.776Z,1757010345.776 [DAT](INFO): direction in FSK: [0.912822,0.004780,-0.408330]
2025-09-04T18:25:45.776Z,1757010345.776 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:45.777Z,1757010345.777 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:45.780Z,1757010345.780 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:45.782Z,1757010345.782 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:46.047Z,1757010346.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 380.500000 m,
      deltaT: 4.032914 s,
      deltaX: -3.200012 m,
      approachRate: -0.793474 m/s,
      rangeRepo size: 4

2025-09-04T18:25:46.050Z,1757010346.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 378.817200 m,
      bearing: 162.764130 deg,
      lat: 36.779284 deg,
      lon: -121.859311 deg,
      deltaT: 4.032914 s,
      deltaX: -3.187775 m,
      approachRate: -0.790440 m/s,
      posRepo size: 4

2025-09-04T18:25:46.051Z,1757010346.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:46.054Z,1757010346.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 364.541809 m,
      bearing: 162.751672 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013231 deg/s,
      cmd heading: 163.007942 deg,
      new cmd heading: 162.994564 deg.

2025-09-04T18:25:46.055Z,1757010346.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844792 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:46.430Z,1757010346.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:46.449Z,1757010346.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 364.272003 m,
      bearing: 162.746004 deg,
      approach rate: -0.705172 m/s,
      LOS rate: -0.014827 deg/s,
      cmd heading: 162.994569 deg,
      new cmd heading: 162.983223 deg.

2025-09-04T18:25:46.450Z,1757010346.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844594 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:46.839Z,1757010346.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:46.846Z,1757010346.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:46.849Z,1757010346.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 363.962067 m,
      bearing: 162.739617 deg,
      approach rate: -0.743371 m/s,
      LOS rate: -0.015331 deg/s,
      cmd heading: 162.983217 deg,
      new cmd heading: 162.970433 deg.

2025-09-04T18:25:46.850Z,1757010346.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844371 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:46.969Z,1757010346.969 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:46.969Z,1757010346.969 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:46.969Z,1757010346.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:47.213Z,1757010347.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:47.215Z,1757010347.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 363.706238 m,
      bearing: 162.734352 deg,
      approach rate: -0.698576 m/s,
      LOS rate: -0.014387 deg/s,
      cmd heading: 162.970431 deg,
      new cmd heading: 162.959893 deg.

2025-09-04T18:25:47.221Z,1757010347.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450578
2025-09-04T18:25:47.229Z,1757010347.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.844187 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:47.474Z,1757010347.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703486
2025-09-04T18:25:47.613Z,1757010347.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:47.616Z,1757010347.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 363.406342 m,
      bearing: 162.728172 deg,
      approach rate: -0.748563 m/s,
      LOS rate: -0.015438 deg/s,
      cmd heading: 162.959899 deg,
      new cmd heading: 162.947529 deg.

2025-09-04T18:25:47.617Z,1757010347.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843971 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:47.725Z,1757010347.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954747
2025-09-04T18:25:47.977Z,1757010347.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206423
2025-09-04T18:25:48.054Z,1757010348.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:48.056Z,1757010348.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 363.089539 m,
      bearing: 162.721548 deg,
      approach rate: -0.719371 m/s,
      LOS rate: -0.015055 deg/s,
      cmd heading: 162.947523 deg,
      new cmd heading: 162.934262 deg.

2025-09-04T18:25:48.057Z,1757010348.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843739 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:48.229Z,1757010348.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458454
2025-09-04T18:25:48.431Z,1757010348.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:48.435Z,1757010348.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 362.821777 m,
      bearing: 162.715959 deg,
      approach rate: -0.708416 m/s,
      LOS rate: -0.014798 deg/s,
      cmd heading: 162.934258 deg,
      new cmd heading: 162.923072 deg.

2025-09-04T18:25:48.435Z,1757010348.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843544 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:48.482Z,1757010348.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711298
2025-09-04T18:25:48.733Z,1757010348.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962454
2025-09-04T18:25:48.892Z,1757010348.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:48.895Z,1757010348.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:48.901Z,1757010348.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 362.475342 m,
      bearing: 162.709160 deg,
      approach rate: -0.748301 m/s,
      LOS rate: -0.014698 deg/s,
      cmd heading: 162.923070 deg,
      new cmd heading: 162.909461 deg.

2025-09-04T18:25:48.903Z,1757010348.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843307 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:48.986Z,1757010348.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215800
2025-09-04T18:25:49.237Z,1757010349.237 [DAT](INFO): DAT read: Rx Time:18:25:47.7903

2025-09-04T18:25:49.237Z,1757010349.237 [DAT](INFO): Rx dataTimestamp_ set to:1757010349.237197
2025-09-04T18:25:49.238Z,1757010349.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467490
2025-09-04T18:25:49.309Z,1757010349.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:49.318Z,1757010349.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 362.168579 m,
      bearing: 162.703121 deg,
      approach rate: -0.739397 m/s,
      LOS rate: -0.014570 deg/s,
      cmd heading: 162.909465 deg,
      new cmd heading: 162.897375 deg.

2025-09-04T18:25:49.320Z,1757010349.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.843096 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:49.490Z,1757010349.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718935
2025-09-04T18:25:49.682Z,1757010349.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.82 m.
2025-09-04T18:25:49.685Z,1757010349.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.817200 m,
      nav range: 361.899384 m,
      bearing: 162.697824 deg,
      approach rate: -0.721516 m/s,
      LOS rate: -0.014208 deg/s,
      cmd heading: 162.897375 deg,
      new cmd heading: 162.886773 deg.

2025-09-04T18:25:49.686Z,1757010349.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842911 target range: 378.817200 and range: 380.50 m.
2025-09-04T18:25:49.753Z,1757010349.753 [DAT](INFO): DAT read: 18:25:47.7903 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.01,-2.650, 2.373,-2.586, 2.765, PHS= 0.970,-0.347, 0.888, RAW= 146.8, -22.7, CAL= 148.2, -24.6, ROT=   1.8,  24.6

2025-09-04T18:25:49.754Z,1757010349.754 [DAT](INFO): got valid direction response:
 18:25:47.7903 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407,-0.01,-2.650, 2.373,-2.586, 2.765, PHS= 0.970,-0.347, 0.888, RAW= 146.8, -22.7, CAL= 148.2, -24.6, ROT=   1.8,  24.6

2025-09-04T18:25:49.755Z,1757010349.755 [DAT](INFO): DAT read: Bearing 293.3,  14.2 (Local)

2025-09-04T18:25:49.756Z,1757010349.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.3,  14.2 (Local)

2025-09-04T18:25:49.775Z,1757010349.775 [DAT](INFO): DAT read: Range 11 to 50 : 378.3 m  (Round-trip  504.5 ms) speed  0.5 m/s

2025-09-04T18:25:49.778Z,1757010349.778 [DAT](INFO): DAT read: user:2748>

2025-09-04T18:25:49.786Z,1757010349.786 [DAT](INFO): DAT read: Tx time:18:25:48.8816

2025-09-04T18:25:49.787Z,1757010349.787 [DAT](INFO): Ping request sent.
2025-09-04T18:25:49.787Z,1757010349.787 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:49.810Z,1757010349.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:49.822Z,1757010349.822 [DAT](INFO): direction in FSK: [0.908787,0.028560,-0.416281]
2025-09-04T18:25:49.823Z,1757010349.823 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:49.832Z,1757010349.832 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:49.835Z,1757010349.835 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:49.835Z,1757010349.835 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:50.149Z,1757010350.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 378.299988 m,
      deltaT: 4.032232 s,
      deltaX: -2.200012 m,
      approachRate: -0.545607 m/s,
      rangeRepo size: 4

2025-09-04T18:25:50.151Z,1757010350.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 376.630768 m,
      bearing: 163.941527 deg,
      lat: 36.779225 deg,
      lon: -121.859311 deg,
      deltaT: 4.032232 s,
      deltaX: -2.186432 m,
      approachRate: -0.542239 m/s,
      posRepo size: 4

2025-09-04T18:25:50.153Z,1757010350.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:50.156Z,1757010350.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 367.895233 m,
      bearing: 162.998067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014208 deg/s,
      cmd heading: 162.886775 deg,
      new cmd heading: 162.873538 deg.

2025-09-04T18:25:50.157Z,1757010350.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842680 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:50.483Z,1757010350.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:50.504Z,1757010350.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 367.637665 m,
      bearing: 162.993453 deg,
      approach rate: -0.769263 m/s,
      LOS rate: -0.013791 deg/s,
      cmd heading: 162.873538 deg,
      new cmd heading: 162.864303 deg.

2025-09-04T18:25:50.506Z,1757010350.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842518 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:50.960Z,1757010350.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:50.962Z,1757010350.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:50.985Z,1757010350.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 367.288513 m,
      bearing: 162.987216 deg,
      approach rate: -0.728878 m/s,
      LOS rate: -0.013032 deg/s,
      cmd heading: 162.864303 deg,
      new cmd heading: 162.851818 deg.

2025-09-04T18:25:50.986Z,1757010350.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842300 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:51.001Z,1757010351.001 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:51.001Z,1757010351.001 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:51.001Z,1757010351.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:51.254Z,1757010351.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466630
2025-09-04T18:25:51.327Z,1757010351.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:51.330Z,1757010351.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 367.025208 m,
      bearing: 162.982472 deg,
      approach rate: -0.720720 m/s,
      LOS rate: -0.012996 deg/s,
      cmd heading: 162.851818 deg,
      new cmd heading: 162.842322 deg.

2025-09-04T18:25:51.331Z,1757010351.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.842135 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:51.506Z,1757010351.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718942
2025-09-04T18:25:51.734Z,1757010351.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:51.737Z,1757010351.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 366.732758 m,
      bearing: 162.977210 deg,
      approach rate: -0.719422 m/s,
      LOS rate: -0.012953 deg/s,
      cmd heading: 162.842324 deg,
      new cmd heading: 162.831793 deg.

2025-09-04T18:25:51.738Z,1757010351.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841951 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:51.757Z,1757010351.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969692
2025-09-04T18:25:52.010Z,1757010352.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222376
2025-09-04T18:25:52.165Z,1757010352.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:52.184Z,1757010352.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 366.413025 m,
      bearing: 162.971462 deg,
      approach rate: -0.741009 m/s,
      LOS rate: -0.013332 deg/s,
      cmd heading: 162.831792 deg,
      new cmd heading: 162.820286 deg.

2025-09-04T18:25:52.185Z,1757010352.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841750 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:52.261Z,1757010352.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473912
2025-09-04T18:25:52.513Z,1757010352.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725755
2025-09-04T18:25:52.654Z,1757010352.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:52.658Z,1757010352.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 366.050140 m,
      bearing: 162.965002 deg,
      approach rate: -0.741966 m/s,
      LOS rate: -0.013223 deg/s,
      cmd heading: 162.820290 deg,
      new cmd heading: 162.807356 deg.

2025-09-04T18:25:52.658Z,1757010352.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841524 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:52.766Z,1757010352.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978640
2025-09-04T18:25:53.017Z,1757010353.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229854
2025-09-04T18:25:53.105Z,1757010353.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:53.107Z,1757010353.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:53.118Z,1757010353.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 365.735229 m,
      bearing: 162.959247 deg,
      approach rate: -0.695456 m/s,
      LOS rate: -0.012721 deg/s,
      cmd heading: 162.807353 deg,
      new cmd heading: 162.795833 deg.

2025-09-04T18:25:53.119Z,1757010353.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841323 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:53.271Z,1757010353.271 [DAT](INFO): DAT read: Rx Time:18:25:51.7866

2025-09-04T18:25:53.271Z,1757010353.271 [DAT](INFO): Rx dataTimestamp_ set to:1757010353.270744
2025-09-04T18:25:53.272Z,1757010353.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484409
2025-09-04T18:25:53.521Z,1757010353.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733829
2025-09-04T18:25:53.639Z,1757010353.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.63 m.
2025-09-04T18:25:53.643Z,1757010353.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.630768 m,
      nav range: 365.338348 m,
      bearing: 162.952006 deg,
      approach rate: -0.745754 m/s,
      LOS rate: -0.013620 deg/s,
      cmd heading: 162.795838 deg,
      new cmd heading: 162.781341 deg.

2025-09-04T18:25:53.643Z,1757010353.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.841070 target range: 376.630768 and range: 378.30 m.
2025-09-04T18:25:53.779Z,1757010353.779 [DAT](INFO): DAT read: 18:25:51.7866 LVL= 30896, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.06, 2.225, 0.878, 2.368, 1.241, PHS= 1.085,-0.319, 1.083, RAW= 149.9, -25.0, CAL= 151.5, -26.5, ROT= 358.5,  26.5

2025-09-04T18:25:53.783Z,1757010353.783 [DAT](INFO): got valid direction response:
 18:25:51.7866 LVL= 30896, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.06, 2.225, 0.878, 2.368, 1.241, PHS= 1.085,-0.319, 1.083, RAW= 149.9, -25.0, CAL= 151.5, -26.5, ROT= 358.5,  26.5

2025-09-04T18:25:53.788Z,1757010353.788 [DAT](INFO): DAT read: Bearing 291.2,  11.5 (Local)

2025-09-04T18:25:53.789Z,1757010353.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.2,  11.5 (Local)

2025-09-04T18:25:53.790Z,1757010353.790 [DAT](INFO): DAT read: Range 11 to 50 : 375.6 m  (Round-trip  500.8 ms) speed  0.4 m/s

2025-09-04T18:25:53.791Z,1757010353.791 [DAT](INFO): DAT read: user:2749>

2025-09-04T18:25:53.792Z,1757010353.792 [DAT](INFO): DAT read: Tx time:18:25:52.8816

2025-09-04T18:25:53.800Z,1757010353.800 [DAT](INFO): Ping request sent.
2025-09-04T18:25:53.800Z,1757010353.800 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:53.801Z,1757010353.801 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:53.803Z,1757010353.803 [DAT](INFO): direction in FSK: [0.894628,-0.023427,-0.446198]
2025-09-04T18:25:53.808Z,1757010353.808 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:53.808Z,1757010353.808 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:53.816Z,1757010353.816 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:53.817Z,1757010353.817 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:54.073Z,1757010354.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 375.600006 m,
      deltaT: 4.029532 s,
      deltaX: -2.699982 m,
      approachRate: -0.670048 m/s,
      rangeRepo size: 4

2025-09-04T18:25:54.075Z,1757010354.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 373.945099 m,
      bearing: 160.683792 deg,
      lat: 36.779225 deg,
      lon: -121.859289 deg,
      deltaT: 4.029532 s,
      deltaX: -2.685669 m,
      approachRate: -0.666497 m/s,
      posRepo size: 4

2025-09-04T18:25:54.075Z,1757010354.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:54.082Z,1757010354.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 365.623383 m,
      bearing: 162.651848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013620 deg/s,
      cmd heading: 162.781344 deg,
      new cmd heading: 162.769679 deg.

2025-09-04T18:25:54.083Z,1757010354.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840867 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:54.541Z,1757010354.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:54.543Z,1757010354.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 365.283569 m,
      bearing: 162.646434 deg,
      approach rate: -0.718591 m/s,
      LOS rate: -0.011461 deg/s,
      cmd heading: 162.769678 deg,
      new cmd heading: 162.758839 deg.

2025-09-04T18:25:54.549Z,1757010354.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840678 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:54.989Z,1757010354.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:54.991Z,1757010354.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 364.940613 m,
      bearing: 162.640221 deg,
      approach rate: -0.765386 m/s,
      LOS rate: -0.013878 deg/s,
      cmd heading: 162.758845 deg,
      new cmd heading: 162.746409 deg.

2025-09-04T18:25:54.993Z,1757010354.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840461 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:55.360Z,1757010355.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:55.362Z,1757010355.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:55.393Z,1757010355.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 364.668091 m,
      bearing: 162.635266 deg,
      approach rate: -0.730193 m/s,
      LOS rate: -0.013285 deg/s,
      cmd heading: 162.746414 deg,
      new cmd heading: 162.736498 deg.

2025-09-04T18:25:55.395Z,1757010355.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840288 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:55.537Z,1757010355.537 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:55.537Z,1757010355.537 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:55.537Z,1757010355.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:25:55.766Z,1757010355.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:55.769Z,1757010355.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 364.372375 m,
      bearing: 162.629888 deg,
      approach rate: -0.731348 m/s,
      LOS rate: -0.013313 deg/s,
      cmd heading: 162.736497 deg,
      new cmd heading: 162.725731 deg.

2025-09-04T18:25:55.770Z,1757010355.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.840100 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:55.789Z,1757010355.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988853
2025-09-04T18:25:56.042Z,1757010356.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241456
2025-09-04T18:25:56.209Z,1757010356.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:56.211Z,1757010356.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 364.052307 m,
      bearing: 162.624460 deg,
      approach rate: -0.723103 m/s,
      LOS rate: -0.012274 deg/s,
      cmd heading: 162.725733 deg,
      new cmd heading: 162.714867 deg.

2025-09-04T18:25:56.213Z,1757010356.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839910 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:56.294Z,1757010356.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493604
2025-09-04T18:25:56.545Z,1757010356.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745037
2025-09-04T18:25:56.591Z,1757010356.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:56.595Z,1757010356.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 363.776215 m,
      bearing: 162.619772 deg,
      approach rate: -0.722474 m/s,
      LOS rate: -0.012275 deg/s,
      cmd heading: 162.714873 deg,
      new cmd heading: 162.705491 deg.

2025-09-04T18:25:56.595Z,1757010356.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839746 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:56.797Z,1757010356.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996777
2025-09-04T18:25:57.018Z,1757010357.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:57.025Z,1757010357.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 363.478119 m,
      bearing: 162.614938 deg,
      approach rate: -0.697883 m/s,
      LOS rate: -0.011327 deg/s,
      cmd heading: 162.705488 deg,
      new cmd heading: 162.695812 deg.

2025-09-04T18:25:57.026Z,1757010357.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839578 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:57.049Z,1757010357.049 [DAT](INFO): DAT read: Rx Time:18:25:55.7833

2025-09-04T18:25:57.050Z,1757010357.050 [DAT](INFO): Rx dataTimestamp_ set to:1757010357.049302
2025-09-04T18:25:57.050Z,1757010357.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249924
2025-09-04T18:25:57.301Z,1757010357.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501225
2025-09-04T18:25:57.414Z,1757010357.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:57.417Z,1757010357.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.95 m.
2025-09-04T18:25:57.419Z,1757010357.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.945099 m,
      nav range: 363.178375 m,
      bearing: 162.610070 deg,
      approach rate: -0.752994 m/s,
      LOS rate: -0.012241 deg/s,
      cmd heading: 162.695816 deg,
      new cmd heading: 162.686071 deg.

2025-09-04T18:25:57.421Z,1757010357.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839408 target range: 373.945099 and range: 375.60 m.
2025-09-04T18:25:57.557Z,1757010357.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756116
2025-09-04T18:25:57.811Z,1757010357.811 [DAT](INFO): DAT read: 18:25:55.7833 LVL= 29568, 32753, 32754, 32755, AGC= 71, IDX= 403, 0.14,-1.318,-2.558,-1.213,-2.188, PHS= 0.972,-0.325, 0.931, RAW= 148.4, -23.6, CAL= 150.0, -25.4, ROT=   0.0,  25.4

2025-09-04T18:25:57.812Z,1757010357.812 [DAT](INFO): got valid direction response:
 18:25:55.7833 LVL= 29568, 32753, 32754, 32755, AGC= 71, IDX= 403, 0.14,-1.318,-2.558,-1.213,-2.188, PHS= 0.972,-0.325, 0.931, RAW= 148.4, -23.6, CAL= 150.0, -25.4, ROT=   0.0,  25.4

2025-09-04T18:25:57.813Z,1757010357.813 [DAT](INFO): DAT read: Bearing 291.6,  12.9 (Local)

2025-09-04T18:25:57.813Z,1757010357.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.6,  12.9 (Local)

2025-09-04T18:25:57.815Z,1757010357.815 [DAT](INFO): DAT read: Range 11 to 50 : 373.1 m  (Round-trip  497.5 ms) speed  0.1 m/s

2025-09-04T18:25:57.815Z,1757010357.815 [DAT](INFO): DAT read: user:2750>

2025-09-04T18:25:57.816Z,1757010357.816 [DAT](INFO): DAT read: Tx time:18:25:56.8816

2025-09-04T18:25:57.817Z,1757010357.817 [DAT](INFO): Ping request sent.
2025-09-04T18:25:57.817Z,1757010357.817 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:25:57.817Z,1757010357.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:25:57.818Z,1757010357.818 [DAT](INFO): direction in FSK: [0.903335,0.000000,-0.428935]
2025-09-04T18:25:57.818Z,1757010357.818 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:57.818Z,1757010357.818 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:57.826Z,1757010357.826 [DAT](INFO): publishing transmit ping time
2025-09-04T18:25:57.826Z,1757010357.826 [DAT](INFO): publishing direction and range info
2025-09-04T18:25:57.842Z,1757010357.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.100006 m,
      deltaT: 4.031643 s,
      deltaX: -2.500000 m,
      approachRate: -0.620095 m/s,
      rangeRepo size: 4

2025-09-04T18:25:57.844Z,1757010357.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.457611 m,
      bearing: 161.939138 deg,
      lat: 36.779225 deg,
      lon: -121.859289 deg,
      deltaT: 4.031643 s,
      deltaX: -2.487488 m,
      approachRate: -0.616991 m/s,
      posRepo size: 4

2025-09-04T18:25:57.844Z,1757010357.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:25:57.847Z,1757010357.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 362.878143 m,
      bearing: 162.605184 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012241 deg/s,
      cmd heading: 162.686077 deg,
      new cmd heading: 162.675680 deg.

2025-09-04T18:25:57.879Z,1757010357.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839226 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:25:58.323Z,1757010358.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:25:58.326Z,1757010358.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 362.517090 m,
      bearing: 162.599003 deg,
      approach rate: -0.749500 m/s,
      LOS rate: -0.012845 deg/s,
      cmd heading: 162.675681 deg,
      new cmd heading: 162.663306 deg.

2025-09-04T18:25:58.327Z,1757010358.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.839010 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:25:58.697Z,1757010358.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:25:58.700Z,1757010358.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 362.242645 m,
      bearing: 162.594267 deg,
      approach rate: -0.733517 m/s,
      LOS rate: -0.012668 deg/s,
      cmd heading: 162.663305 deg,
      new cmd heading: 162.653825 deg.

2025-09-04T18:25:58.701Z,1757010358.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838845 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:25:59.153Z,1757010359.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:25:59.156Z,1757010359.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 361.925049 m,
      bearing: 162.588753 deg,
      approach rate: -0.696532 m/s,
      LOS rate: -0.012102 deg/s,
      cmd heading: 162.653824 deg,
      new cmd heading: 162.642788 deg.

2025-09-04T18:25:59.161Z,1757010359.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838652 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:25:59.689Z,1757010359.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:25:59.691Z,1757010359.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:25:59.693Z,1757010359.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 361.511932 m,
      bearing: 162.581542 deg,
      approach rate: -0.768083 m/s,
      LOS rate: -0.013423 deg/s,
      cmd heading: 162.642787 deg,
      new cmd heading: 162.628347 deg.

2025-09-04T18:25:59.694Z,1757010359.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838400 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:25:59.833Z,1757010359.833 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:25:59.833Z,1757010359.833 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:25:59.834Z,1757010359.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:00.085Z,1757010360.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268354
2025-09-04T18:26:00.089Z,1757010360.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:26:00.108Z,1757010360.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 361.223541 m,
      bearing: 162.576404 deg,
      approach rate: -0.723470 m/s,
      LOS rate: -0.012899 deg/s,
      cmd heading: 162.628348 deg,
      new cmd heading: 162.618064 deg.

2025-09-04T18:26:00.109Z,1757010360.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838221 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:26:00.337Z,1757010360.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520448
2025-09-04T18:26:00.587Z,1757010360.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:26:00.589Z,1757010360.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772470
2025-09-04T18:26:00.594Z,1757010360.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 360.874634 m,
      bearing: 162.570208 deg,
      approach rate: -0.701226 m/s,
      LOS rate: -0.012464 deg/s,
      cmd heading: 162.618061 deg,
      new cmd heading: 162.605658 deg.

2025-09-04T18:26:00.595Z,1757010360.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.838004 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:26:00.842Z,1757010360.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025003
2025-09-04T18:26:01.049Z,1757010361.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:26:01.052Z,1757010361.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 360.538971 m,
      bearing: 162.563700 deg,
      approach rate: -0.726284 m/s,
      LOS rate: -0.014096 deg/s,
      cmd heading: 162.605658 deg,
      new cmd heading: 162.592629 deg.

2025-09-04T18:26:01.053Z,1757010361.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837777 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:26:01.093Z,1757010361.093 [DAT](INFO): DAT read: Rx Time:18:25:59.7803

2025-09-04T18:26:01.094Z,1757010361.094 [DAT](INFO): Rx dataTimestamp_ set to:1757010361.093496
2025-09-04T18:26:01.094Z,1757010361.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277618
2025-09-04T18:26:01.345Z,1757010361.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528607
2025-09-04T18:26:01.418Z,1757010361.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.46 m.
2025-09-04T18:26:01.421Z,1757010361.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.457611 m,
      nav range: 360.280029 m,
      bearing: 162.558686 deg,
      approach rate: -0.701135 m/s,
      LOS rate: -0.013586 deg/s,
      cmd heading: 162.592626 deg,
      new cmd heading: 162.582591 deg.

2025-09-04T18:26:01.422Z,1757010361.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837601 target range: 371.457611 and range: 373.10 m.
2025-09-04T18:26:01.603Z,1757010361.603 [DAT](INFO): DAT read: 18:25:59.7802 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.36,-2.974, 2.061,-2.807, 2.399, PHS= 1.013,-0.292, 1.034, RAW= 150.8, -25.2, CAL= 152.4, -26.6, ROT= 357.6,  26.6

2025-09-04T18:26:01.604Z,1757010361.604 [DAT](INFO): got valid direction response:
 18:25:59.7802 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.36,-2.974, 2.061,-2.807, 2.399, PHS= 1.013,-0.292, 1.034, RAW= 150.8, -25.2, CAL= 152.4, -26.6, ROT= 357.6,  26.6

2025-09-04T18:26:01.605Z,1757010361.605 [DAT](INFO): DAT read: Bearing 290.1,  10.3 (Local)

2025-09-04T18:26:01.605Z,1757010361.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.1,  10.3 (Local)

2025-09-04T18:26:01.607Z,1757010361.607 [DAT](INFO): DAT read: Range 11 to 50 : 370.9 m  (Round-trip  494.6 ms) speed  0.4 m/s

2025-09-04T18:26:01.607Z,1757010361.607 [DAT](INFO): DAT read: user:2751>

2025-09-04T18:26:01.608Z,1757010361.608 [DAT](INFO): DAT read: Tx time:18:26:00.8815

2025-09-04T18:26:01.609Z,1757010361.609 [DAT](INFO): Ping request sent.
2025-09-04T18:26:01.609Z,1757010361.609 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:01.609Z,1757010361.609 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:01.610Z,1757010361.610 [DAT](INFO): direction in FSK: [0.893370,-0.037443,-0.447759]
2025-09-04T18:26:01.610Z,1757010361.610 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:01.611Z,1757010361.611 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:01.630Z,1757010361.630 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:01.630Z,1757010361.630 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:01.873Z,1757010361.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 370.899994 m,
      deltaT: 3.791955 s,
      deltaX: -2.200012 m,
      approachRate: -0.580179 m/s,
      rangeRepo size: 4

2025-09-04T18:26:01.897Z,1757010361.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 369.270294 m,
      bearing: 159.935619 deg,
      lat: 36.779232 deg,
      lon: -121.859242 deg,
      deltaT: 3.791955 s,
      deltaX: -2.187317 m,
      approachRate: -0.576831 m/s,
      posRepo size: 4

2025-09-04T18:26:01.897Z,1757010361.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:01.909Z,1757010361.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 360.537781 m,
      bearing: 161.881050 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013586 deg/s,
      cmd heading: 162.582585 deg,
      new cmd heading: 162.570387 deg.

2025-09-04T18:26:01.910Z,1757010361.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837389 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:02.345Z,1757010362.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:02.347Z,1757010362.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:02.353Z,1757010362.353 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:02.353Z,1757010362.353 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:02.353Z,1757010362.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:02.358Z,1757010362.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 360.165161 m,
      bearing: 161.873068 deg,
      approach rate: -0.775884 m/s,
      LOS rate: -0.016639 deg/s,
      cmd heading: 162.570387 deg,
      new cmd heading: 162.554405 deg.

2025-09-04T18:26:02.360Z,1757010362.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.837110 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:02.606Z,1757010362.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996865
2025-09-04T18:26:02.705Z,1757010362.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:02.708Z,1757010362.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 359.897186 m,
      bearing: 161.867330 deg,
      approach rate: -0.750159 m/s,
      LOS rate: -0.016074 deg/s,
      cmd heading: 162.554404 deg,
      new cmd heading: 162.542920 deg.

2025-09-04T18:26:02.709Z,1757010362.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836909 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:02.859Z,1757010362.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249534
2025-09-04T18:26:03.109Z,1757010363.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500390
2025-09-04T18:26:03.185Z,1757010363.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:03.187Z,1757010363.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 359.577820 m,
      bearing: 161.860007 deg,
      approach rate: -0.665140 m/s,
      LOS rate: -0.015266 deg/s,
      cmd heading: 162.542916 deg,
      new cmd heading: 162.528256 deg.

2025-09-04T18:26:03.189Z,1757010363.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836653 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:03.363Z,1757010363.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753981
2025-09-04T18:26:03.541Z,1757010363.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:03.544Z,1757010363.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 359.305359 m,
      bearing: 161.853783 deg,
      approach rate: -0.763906 m/s,
      LOS rate: -0.017462 deg/s,
      cmd heading: 162.528258 deg,
      new cmd heading: 162.515802 deg.

2025-09-04T18:26:03.545Z,1757010363.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836436 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:03.614Z,1757010363.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005537
2025-09-04T18:26:03.867Z,1757010363.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258206
2025-09-04T18:26:03.920Z,1757010363.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:03.923Z,1757010363.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 359.040161 m,
      bearing: 161.847745 deg,
      approach rate: -0.699775 m/s,
      LOS rate: -0.015945 deg/s,
      cmd heading: 162.515800 deg,
      new cmd heading: 162.503715 deg.

2025-09-04T18:26:03.924Z,1757010363.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.836225 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:04.117Z,1757010364.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508568
2025-09-04T18:26:04.333Z,1757010364.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:04.336Z,1757010364.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 358.739410 m,
      bearing: 161.840525 deg,
      approach rate: -0.728434 m/s,
      LOS rate: -0.017502 deg/s,
      cmd heading: 162.503710 deg,
      new cmd heading: 162.489258 deg.

2025-09-04T18:26:04.337Z,1757010364.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835973 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:04.370Z,1757010364.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761148
2025-09-04T18:26:04.621Z,1757010364.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012778
2025-09-04T18:26:04.723Z,1757010364.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:04.726Z,1757010364.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:04.729Z,1757010364.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 358.457733 m,
      bearing: 161.833774 deg,
      approach rate: -0.718191 m/s,
      LOS rate: -0.017228 deg/s,
      cmd heading: 162.489258 deg,
      new cmd heading: 162.475744 deg.

2025-09-04T18:26:04.730Z,1757010364.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835737 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:04.875Z,1757010364.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266207
2025-09-04T18:26:05.125Z,1757010365.125 [DAT](INFO): DAT read: Rx Time:18:26:03.7763

2025-09-04T18:26:05.125Z,1757010365.125 [DAT](INFO): Rx dataTimestamp_ set to:1757010365.125219
2025-09-04T18:26:05.126Z,1757010365.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517368
2025-09-04T18:26:05.235Z,1757010365.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:05.239Z,1757010365.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 358.089325 m,
      bearing: 161.825108 deg,
      approach rate: -0.722512 m/s,
      LOS rate: -0.017013 deg/s,
      cmd heading: 162.475748 deg,
      new cmd heading: 162.458398 deg.

2025-09-04T18:26:05.240Z,1757010365.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835434 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:05.378Z,1757010365.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769480
2025-09-04T18:26:05.611Z,1757010365.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.27 m.
2025-09-04T18:26:05.635Z,1757010365.635 [DAT](INFO): DAT read: 18:26:03.7763 LVL= 28080, 32753, 32706, 32243, AGC= 71, IDX= 397,-0.12, 2.876, 1.602, 3.034, 2.003, PHS= 0.975,-0.356, 0.987, RAW= 150.4, -23.0, CAL= 152.2, -24.7, ROT= 357.8,  24.7

2025-09-04T18:26:05.636Z,1757010365.636 [DAT](INFO): got valid direction response:
 18:26:03.7763 LVL= 28080, 32753, 32706, 32243, AGC= 71, IDX= 397,-0.12, 2.876, 1.602, 3.034, 2.003, PHS= 0.975,-0.356, 0.987, RAW= 150.4, -23.0, CAL= 152.2, -24.7, ROT= 357.8,  24.7

2025-09-04T18:26:05.637Z,1757010365.637 [DAT](INFO): DAT read: Bearing 291.7,  10.3 (Local)

2025-09-04T18:26:05.637Z,1757010365.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.7,  10.3 (Local)

2025-09-04T18:26:05.639Z,1757010365.639 [DAT](INFO): DAT read: Range 11 to 50 : 368.0 m  (Round-trip  490.7 ms) speed  0.4 m/s

2025-09-04T18:26:05.639Z,1757010365.639 [DAT](INFO): DAT read: user:2752>

2025-09-04T18:26:05.640Z,1757010365.640 [DAT](INFO): DAT read: Tx time:18:26:04.8815

2025-09-04T18:26:05.641Z,1757010365.641 [DAT](INFO): Ping request sent.
2025-09-04T18:26:05.641Z,1757010365.641 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:05.641Z,1757010365.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:05.642Z,1757010365.642 [DAT](INFO): direction in FSK: [0.907839,-0.034876,-0.417867]
2025-09-04T18:26:05.642Z,1757010365.642 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:05.642Z,1757010365.642 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:05.646Z,1757010365.646 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:05.646Z,1757010365.646 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:05.652Z,1757010365.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.270294 m,
      nav range: 357.817841 m,
      bearing: 161.818719 deg,
      approach rate: -0.722846 m/s,
      LOS rate: -0.017025 deg/s,
      cmd heading: 162.458399 deg,
      new cmd heading: 162.445611 deg.

2025-09-04T18:26:05.665Z,1757010365.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835211 target range: 369.270294 and range: 370.90 m.
2025-09-04T18:26:06.127Z,1757010366.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 368.000000 m,
      deltaT: 4.032143 s,
      deltaX: -2.899994 m,
      approachRate: -0.719219 m/s,
      rangeRepo size: 4

2025-09-04T18:26:06.157Z,1757010366.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.386230 m,
      bearing: 159.881697 deg,
      lat: 36.779259 deg,
      lon: -121.859159 deg,
      deltaT: 4.032143 s,
      deltaX: -2.884064 m,
      approachRate: -0.715268 m/s,
      posRepo size: 4

2025-09-04T18:26:06.158Z,1757010366.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:06.165Z,1757010366.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 356.989410 m,
      bearing: 160.541145 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017025 deg/s,
      cmd heading: 162.445613 deg,
      new cmd heading: 162.428073 deg.

2025-09-04T18:26:06.166Z,1757010366.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834905 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:06.503Z,1757010366.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:06.507Z,1757010366.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 356.723358 m,
      bearing: 160.534905 deg,
      approach rate: -0.706982 m/s,
      LOS rate: -0.016595 deg/s,
      cmd heading: 162.428073 deg,
      new cmd heading: 162.415583 deg.

2025-09-04T18:26:06.507Z,1757010366.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834687 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:06.901Z,1757010366.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:06.903Z,1757010366.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:06.906Z,1757010366.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 356.434174 m,
      bearing: 160.528152 deg,
      approach rate: -0.722409 m/s,
      LOS rate: -0.016882 deg/s,
      cmd heading: 162.415587 deg,
      new cmd heading: 162.402071 deg.

2025-09-04T18:26:06.907Z,1757010366.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834451 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:07.141Z,1757010367.141 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:07.141Z,1757010367.141 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:07.141Z,1757010367.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:07.339Z,1757010367.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:07.345Z,1757010367.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 356.120209 m,
      bearing: 160.520401 deg,
      approach rate: -0.719827 m/s,
      LOS rate: -0.017786 deg/s,
      cmd heading: 162.402077 deg,
      new cmd heading: 162.386562 deg.

2025-09-04T18:26:07.347Z,1757010367.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.834180 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:07.393Z,1757010367.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752363
2025-09-04T18:26:07.646Z,1757010367.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004937
2025-09-04T18:26:07.745Z,1757010367.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:07.747Z,1757010367.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 355.824951 m,
      bearing: 160.513099 deg,
      approach rate: -0.727461 m/s,
      LOS rate: -0.018007 deg/s,
      cmd heading: 162.386559 deg,
      new cmd heading: 162.371942 deg.

2025-09-04T18:26:07.749Z,1757010367.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833925 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:07.897Z,1757010367.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256512
2025-09-04T18:26:08.152Z,1757010368.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510883
2025-09-04T18:26:08.174Z,1757010368.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:08.177Z,1757010368.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 355.506714 m,
      bearing: 160.505791 deg,
      approach rate: -0.741262 m/s,
      LOS rate: -0.017037 deg/s,
      cmd heading: 162.371942 deg,
      new cmd heading: 162.357314 deg.

2025-09-04T18:26:08.178Z,1757010368.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833670 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:08.405Z,1757010368.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764303
2025-09-04T18:26:08.657Z,1757010368.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016388
2025-09-04T18:26:08.662Z,1757010368.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:08.666Z,1757010368.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 355.151764 m,
      bearing: 160.497624 deg,
      approach rate: -0.727674 m/s,
      LOS rate: -0.016760 deg/s,
      cmd heading: 162.357312 deg,
      new cmd heading: 162.340962 deg.

2025-09-04T18:26:08.666Z,1757010368.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833384 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:08.910Z,1757010368.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268942
2025-09-04T18:26:09.161Z,1757010369.161 [DAT](INFO): DAT read: Rx Time:18:26:07.7729

2025-09-04T18:26:09.162Z,1757010369.162 [DAT](INFO): Rx dataTimestamp_ set to:1757010369.161476
2025-09-04T18:26:09.162Z,1757010369.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521618
2025-09-04T18:26:09.240Z,1757010369.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:09.246Z,1757010369.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.39 m.
2025-09-04T18:26:09.254Z,1757010369.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.386230 m,
      nav range: 354.724091 m,
      bearing: 160.488189 deg,
      approach rate: -0.732270 m/s,
      LOS rate: -0.016174 deg/s,
      cmd heading: 162.340961 deg,
      new cmd heading: 162.322069 deg.

2025-09-04T18:26:09.255Z,1757010369.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.833055 target range: 366.386230 and range: 368.00 m.
2025-09-04T18:26:09.414Z,1757010369.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773529
2025-09-04T18:26:09.672Z,1757010369.672 [DAT](INFO): DAT read: 18:26:07.7729 LVL= 28848, 32753, 32754, 32755, AGC= 69, IDX= 410,-0.36, 0.236,-1.143, 0.325,-0.748, PHS= 1.087,-0.350, 1.030, RAW= 148.0, -23.9, CAL= 149.5, -25.6, ROT=   0.5,  25.6

2025-09-04T18:26:09.673Z,1757010369.673 [DAT](INFO): got valid direction response:
 18:26:07.7729 LVL= 28848, 32753, 32754, 32755, AGC= 69, IDX= 410,-0.36, 0.236,-1.143, 0.325,-0.748, PHS= 1.087,-0.350, 1.030, RAW= 148.0, -23.9, CAL= 149.5, -25.6, ROT=   0.5,  25.6

2025-09-04T18:26:09.674Z,1757010369.674 [DAT](INFO): DAT read: Bearing 290.5,  11.6 (Local)

2025-09-04T18:26:09.674Z,1757010369.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.5,  11.6 (Local)

2025-09-04T18:26:09.675Z,1757010369.675 [DAT](INFO): DAT read: Range 11 to 50 : 365.4 m  (Round-trip  487.3 ms) speed  0.4 m/s

2025-09-04T18:26:09.677Z,1757010369.677 [DAT](INFO): DAT read: user:2753>

2025-09-04T18:26:09.678Z,1757010369.678 [DAT](INFO): DAT read: Tx time:18:26:08.8815

2025-09-04T18:26:09.678Z,1757010369.678 [DAT](INFO): Ping request sent.
2025-09-04T18:26:09.678Z,1757010369.678 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:09.678Z,1757010369.678 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:09.679Z,1757010369.679 [DAT](INFO): direction in FSK: [0.901798,0.007870,-0.432086]
2025-09-04T18:26:09.680Z,1757010369.680 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:09.680Z,1757010369.680 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:09.683Z,1757010369.683 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:09.683Z,1757010369.683 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:09.786Z,1757010369.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 365.399994 m,
      deltaT: 4.035906 s,
      deltaX: -2.600006 m,
      approachRate: -0.644219 m/s,
      rangeRepo size: 4

2025-09-04T18:26:09.792Z,1757010369.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 363.798157 m,
      bearing: 162.359987 deg,
      lat: 36.779259 deg,
      lon: -121.859159 deg,
      deltaT: 4.035906 s,
      deltaX: -2.588074 m,
      approachRate: -0.641262 m/s,
      posRepo size: 4

2025-09-04T18:26:09.793Z,1757010369.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:09.795Z,1757010369.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 354.330017 m,
      bearing: 160.479477 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016174 deg/s,
      cmd heading: 162.322068 deg,
      new cmd heading: 162.304625 deg.

2025-09-04T18:26:09.801Z,1757010369.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832750 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:10.187Z,1757010370.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:10.190Z,1757010370.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 354.022888 m,
      bearing: 160.472695 deg,
      approach rate: -0.763719 m/s,
      LOS rate: -0.016879 deg/s,
      cmd heading: 162.304624 deg,
      new cmd heading: 162.291049 deg.

2025-09-04T18:26:10.191Z,1757010370.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832513 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:10.193Z,1757010370.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 68.207596 m.
2025-09-04T18:26:10.533Z,1757010370.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:10.541Z,1757010370.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 353.769562 m,
      bearing: 160.467093 deg,
      approach rate: -0.732509 m/s,
      LOS rate: -0.016211 deg/s,
      cmd heading: 162.291046 deg,
      new cmd heading: 162.279833 deg.

2025-09-04T18:26:10.542Z,1757010370.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832317 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:10.903Z,1757010370.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:10.906Z,1757010370.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 353.497406 m,
      bearing: 160.461044 deg,
      approach rate: -0.735723 m/s,
      LOS rate: -0.016364 deg/s,
      cmd heading: 162.279831 deg,
      new cmd heading: 162.267724 deg.

2025-09-04T18:26:10.907Z,1757010370.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.832106 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:11.331Z,1757010371.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:11.338Z,1757010371.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:11.345Z,1757010371.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 353.186646 m,
      bearing: 160.454683 deg,
      approach rate: -0.718350 m/s,
      LOS rate: -0.014716 deg/s,
      cmd heading: 162.267727 deg,
      new cmd heading: 162.254995 deg.

2025-09-04T18:26:11.347Z,1757010371.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831884 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:11.430Z,1757010371.430 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:11.430Z,1757010371.430 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:11.430Z,1757010371.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:11.681Z,1757010371.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002874
2025-09-04T18:26:11.744Z,1757010371.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:11.750Z,1757010371.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 352.909149 m,
      bearing: 160.448976 deg,
      approach rate: -0.680133 m/s,
      LOS rate: -0.013998 deg/s,
      cmd heading: 162.254996 deg,
      new cmd heading: 162.243573 deg.

2025-09-04T18:26:11.751Z,1757010371.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831685 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:11.933Z,1757010371.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254918
2025-09-04T18:26:12.185Z,1757010372.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506931
2025-09-04T18:26:12.202Z,1757010372.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:12.205Z,1757010372.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 352.549377 m,
      bearing: 160.440546 deg,
      approach rate: -0.785346 m/s,
      LOS rate: -0.018422 deg/s,
      cmd heading: 162.243576 deg,
      new cmd heading: 162.226698 deg.

2025-09-04T18:26:12.206Z,1757010372.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831390 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:12.437Z,1757010372.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758906
2025-09-04T18:26:12.595Z,1757010372.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:12.598Z,1757010372.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 352.259979 m,
      bearing: 160.433752 deg,
      approach rate: -0.735929 m/s,
      LOS rate: -0.017291 deg/s,
      cmd heading: 162.226692 deg,
      new cmd heading: 162.213093 deg.

2025-09-04T18:26:12.599Z,1757010372.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.831152 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:12.690Z,1757010372.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011982
2025-09-04T18:26:12.917Z,1757010372.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:12.919Z,1757010372.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 352.023682 m,
      bearing: 160.428200 deg,
      approach rate: -0.736331 m/s,
      LOS rate: -0.017313 deg/s,
      cmd heading: 162.213086 deg,
      new cmd heading: 162.201974 deg.

2025-09-04T18:26:12.921Z,1757010372.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830959 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:12.943Z,1757010372.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264427
2025-09-04T18:26:13.193Z,1757010373.193 [DAT](INFO): DAT read: Rx Time:18:26:11.7692

2025-09-04T18:26:13.194Z,1757010373.194 [DAT](INFO): Rx dataTimestamp_ set to:1757010373.193464
2025-09-04T18:26:13.194Z,1757010373.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516180
2025-09-04T18:26:13.386Z,1757010373.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:13.388Z,1757010373.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 363.80 m.
2025-09-04T18:26:13.391Z,1757010373.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 363.798157 m,
      nav range: 351.684509 m,
      bearing: 160.419881 deg,
      approach rate: -0.718286 m/s,
      LOS rate: -0.017634 deg/s,
      cmd heading: 162.201980 deg,
      new cmd heading: 162.185327 deg.

2025-09-04T18:26:13.392Z,1757010373.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830668 target range: 363.798157 and range: 365.40 m.
2025-09-04T18:26:13.446Z,1757010373.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767908
2025-09-04T18:26:13.703Z,1757010373.703 [DAT](INFO): DAT read: 18:26:11.7692 LVL= 31984, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.02, 1.560, 0.108, 1.620, 0.723, PHS= 0.939,-0.570, 0.853, RAW= 147.1, -16.4, CAL= 148.6, -19.1, ROT=   1.4,  19.1

2025-09-04T18:26:13.704Z,1757010373.704 [DAT](INFO): got valid direction response:
 18:26:11.7692 LVL= 31984, 32753, 32754, 32755, AGC= 71, IDX= 407, 0.02, 1.560, 0.108, 1.620, 0.723, PHS= 0.939,-0.570, 0.853, RAW= 147.1, -16.4, CAL= 148.6, -19.1, ROT=   1.4,  19.1

2025-09-04T18:26:13.705Z,1757010373.705 [DAT](INFO): DAT read: Bearing 297.5,  11.3 (Local)

2025-09-04T18:26:13.705Z,1757010373.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.5,  11.3 (Local)

2025-09-04T18:26:13.707Z,1757010373.707 [DAT](INFO): DAT read: Range 11 to 50 : 362.6 m  (Round-trip  483.5 ms) speed  0.4 m/s

2025-09-04T18:26:13.708Z,1757010373.708 [DAT](INFO): DAT read: user:2754>

2025-09-04T18:26:13.708Z,1757010373.708 [DAT](INFO): DAT read: Tx time:18:26:12.8831

2025-09-04T18:26:13.709Z,1757010373.709 [DAT](INFO): Ping request sent.
2025-09-04T18:26:13.709Z,1757010373.709 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:13.709Z,1757010373.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:13.710Z,1757010373.710 [DAT](INFO): direction in FSK: [0.944667,0.023087,-0.327218]
2025-09-04T18:26:13.710Z,1757010373.710 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:13.711Z,1757010373.711 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:13.714Z,1757010373.714 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:13.714Z,1757010373.714 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:13.854Z,1757010373.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 362.600006 m,
      deltaT: 4.031908 s,
      deltaX: -2.799988 m,
      approachRate: -0.694457 m/s,
      rangeRepo size: 4

2025-09-04T18:26:13.861Z,1757010373.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 361.012939 m,
      bearing: 163.366485 deg,
      lat: 36.779237 deg,
      lon: -121.859242 deg,
      deltaT: 4.031908 s,
      deltaX: -2.785217 m,
      approachRate: -0.690794 m/s,
      posRepo size: 4

2025-09-04T18:26:13.862Z,1757010373.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:13.869Z,1757010373.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 351.222382 m,
      bearing: 161.670520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017634 deg/s,
      cmd heading: 162.185328 deg,
      new cmd heading: 162.169141 deg.

2025-09-04T18:26:13.870Z,1757010373.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830385 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:14.310Z,1757010374.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:14.313Z,1757010374.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 350.855652 m,
      bearing: 161.663345 deg,
      approach rate: -0.791661 m/s,
      LOS rate: -0.015504 deg/s,
      cmd heading: 162.169140 deg,
      new cmd heading: 162.154776 deg.

2025-09-04T18:26:14.314Z,1757010374.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.830135 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:14.651Z,1757010374.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:14.654Z,1757010374.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 350.607239 m,
      bearing: 161.658498 deg,
      approach rate: -0.728807 m/s,
      LOS rate: -0.014231 deg/s,
      cmd heading: 162.154770 deg,
      new cmd heading: 162.145068 deg.

2025-09-04T18:26:14.655Z,1757010374.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829965 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:15.065Z,1757010375.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:15.067Z,1757010375.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 350.305603 m,
      bearing: 161.652605 deg,
      approach rate: -0.730273 m/s,
      LOS rate: -0.014278 deg/s,
      cmd heading: 162.145071 deg,
      new cmd heading: 162.133276 deg.

2025-09-04T18:26:15.069Z,1757010375.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829760 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:15.522Z,1757010375.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:15.528Z,1757010375.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:15.531Z,1757010375.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 349.979095 m,
      bearing: 161.645393 deg,
      approach rate: -0.710270 m/s,
      LOS rate: -0.015705 deg/s,
      cmd heading: 162.133282 deg,
      new cmd heading: 162.118843 deg.

2025-09-04T18:26:15.534Z,1757010375.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829508 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:15.692Z,1757010375.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:26:15.713Z,1757010375.713 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:15.713Z,1757010375.713 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:15.713Z,1757010375.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:15.879Z,1757010375.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:15.882Z,1757010375.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 349.716034 m,
      bearing: 161.639596 deg,
      approach rate: -0.742365 m/s,
      LOS rate: -0.016371 deg/s,
      cmd heading: 162.118843 deg,
      new cmd heading: 162.107240 deg.

2025-09-04T18:26:15.883Z,1757010375.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829305 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:15.969Z,1757010375.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259970
2025-09-04T18:26:16.222Z,1757010376.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512731
2025-09-04T18:26:16.314Z,1757010376.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:16.321Z,1757010376.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 349.404633 m,
      bearing: 161.632337 deg,
      approach rate: -0.714096 m/s,
      LOS rate: -0.016659 deg/s,
      cmd heading: 162.107245 deg,
      new cmd heading: 162.092716 deg.

2025-09-04T18:26:16.323Z,1757010376.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.829051 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:16.474Z,1757010376.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765462
2025-09-04T18:26:16.696Z,1757010376.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:16.697Z,1757010376.697 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:26:16.701Z,1757010376.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 349.132782 m,
      bearing: 161.625997 deg,
      approach rate: -0.713262 m/s,
      LOS rate: -0.016649 deg/s,
      cmd heading: 162.092711 deg,
      new cmd heading: 162.080019 deg.

2025-09-04T18:26:16.702Z,1757010376.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828830 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:16.725Z,1757010376.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016216
2025-09-04T18:26:16.981Z,1757010376.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271491
2025-09-04T18:26:17.232Z,1757010377.232 [DAT](INFO): DAT read: Rx Time:18:26:15.7675

2025-09-04T18:26:17.234Z,1757010377.234 [DAT](INFO): Rx dataTimestamp_ set to:1757010377.232789
2025-09-04T18:26:17.235Z,1757010377.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526195
2025-09-04T18:26:17.330Z,1757010377.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 361.01 m.
2025-09-04T18:26:17.339Z,1757010377.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 361.012939 m,
      nav range: 348.691406 m,
      bearing: 161.615326 deg,
      approach rate: -0.696268 m/s,
      LOS rate: -0.016854 deg/s,
      cmd heading: 162.080020 deg,
      new cmd heading: 162.058652 deg.

2025-09-04T18:26:17.352Z,1757010377.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828457 target range: 361.012939 and range: 362.60 m.
2025-09-04T18:26:17.482Z,1757010377.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773093
2025-09-04T18:26:17.739Z,1757010377.739 [DAT](INFO): DAT read: 18:26:15.7675 LVL= 32752, 32753, 31186, 32755, AGC= 69, IDX= 403,-0.18, 1.222,-0.238, 1.328, 0.286, PHS= 1.038,-0.479, 0.999, RAW= 148.7, -20.2, CAL= 150.4, -22.4, ROT= 359.6,  22.4

2025-09-04T18:26:17.740Z,1757010377.740 [DAT](INFO): got valid direction response:
 18:26:15.7675 LVL= 32752, 32753, 31186, 32755, AGC= 69, IDX= 403,-0.18, 1.222,-0.238, 1.328, 0.286, PHS= 1.038,-0.479, 0.999, RAW= 148.7, -20.2, CAL= 150.4, -22.4, ROT= 359.6,  22.4

2025-09-04T18:26:17.741Z,1757010377.741 [DAT](INFO): DAT read: Bearing 294.3,   8.0 (Local)

2025-09-04T18:26:17.741Z,1757010377.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.3,   8.0 (Local)

2025-09-04T18:26:17.750Z,1757010377.750 [DAT](INFO): DAT read: Range 11 to 50 : 360.2 m  (Round-trip  480.3 ms) speed  0.8 m/s

2025-09-04T18:26:17.751Z,1757010377.751 [DAT](INFO): DAT read: user:2755>

2025-09-04T18:26:17.752Z,1757010377.752 [DAT](INFO): DAT read: Tx time:18:26:16.8815

2025-09-04T18:26:17.753Z,1757010377.753 [DAT](INFO): Ping request sent.
2025-09-04T18:26:17.753Z,1757010377.753 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:17.753Z,1757010377.753 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:17.755Z,1757010377.755 [DAT](INFO): direction in FSK: [0.924524,-0.006454,-0.381070]
2025-09-04T18:26:17.755Z,1757010377.755 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:17.756Z,1757010377.756 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:17.761Z,1757010377.761 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:17.762Z,1757010377.762 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:17.912Z,1757010377.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.200012 m,
      deltaT: 4.035982 s,
      deltaX: -2.399994 m,
      approachRate: -0.594649 m/s,
      rangeRepo size: 4

2025-09-04T18:26:17.914Z,1757010377.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 358.627136 m,
      bearing: 161.411825 deg,
      lat: 36.779246 deg,
      lon: -121.859232 deg,
      deltaT: 4.035982 s,
      deltaX: -2.385803 m,
      approachRate: -0.591133 m/s,
      posRepo size: 4

2025-09-04T18:26:17.915Z,1757010377.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:17.926Z,1757010377.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 347.697357 m,
      bearing: 161.411118 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016854 deg/s,
      cmd heading: 162.058655 deg,
      new cmd heading: 162.039310 deg.

2025-09-04T18:26:17.927Z,1757010377.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.828120 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:18.390Z,1757010378.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:18.392Z,1757010378.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:18.403Z,1757010378.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 347.337921 m,
      bearing: 161.402588 deg,
      approach rate: -0.736077 m/s,
      LOS rate: -0.017486 deg/s,
      cmd heading: 162.039312 deg,
      new cmd heading: 162.022235 deg.

2025-09-04T18:26:18.404Z,1757010378.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827821 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:18.497Z,1757010378.497 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:18.497Z,1757010378.497 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:18.498Z,1757010378.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:18.749Z,1757010378.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996267
2025-09-04T18:26:18.833Z,1757010378.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:18.859Z,1757010378.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 347.040222 m,
      bearing: 161.395523 deg,
      approach rate: -0.682912 m/s,
      LOS rate: -0.016220 deg/s,
      cmd heading: 162.022237 deg,
      new cmd heading: 162.008095 deg.

2025-09-04T18:26:18.861Z,1757010378.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827575 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:19.001Z,1757010379.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248321
2025-09-04T18:26:19.181Z,1757010379.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:19.184Z,1757010379.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 346.764343 m,
      bearing: 161.388986 deg,
      approach rate: -0.782626 m/s,
      LOS rate: -0.018561 deg/s,
      cmd heading: 162.008098 deg,
      new cmd heading: 161.995013 deg.

2025-09-04T18:26:19.185Z,1757010379.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827346 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:19.256Z,1757010379.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502840
2025-09-04T18:26:19.506Z,1757010379.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753055
2025-09-04T18:26:19.616Z,1757010379.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:19.619Z,1757010379.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 346.451843 m,
      bearing: 161.381840 deg,
      approach rate: -0.717426 m/s,
      LOS rate: -0.016419 deg/s,
      cmd heading: 161.995012 deg,
      new cmd heading: 161.980708 deg.

2025-09-04T18:26:19.621Z,1757010379.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.827097 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:19.757Z,1757010379.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004200
2025-09-04T18:26:19.990Z,1757010379.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:19.993Z,1757010379.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 346.186127 m,
      bearing: 161.375767 deg,
      approach rate: -0.710377 m/s,
      LOS rate: -0.016250 deg/s,
      cmd heading: 161.980709 deg,
      new cmd heading: 161.968553 deg.

2025-09-04T18:26:19.994Z,1757010379.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826885 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:20.009Z,1757010380.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256228
2025-09-04T18:26:20.264Z,1757010380.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510236
2025-09-04T18:26:20.432Z,1757010380.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:20.434Z,1757010380.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:20.452Z,1757010380.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 345.865875 m,
      bearing: 161.368935 deg,
      approach rate: -0.720605 m/s,
      LOS rate: -0.015386 deg/s,
      cmd heading: 161.968551 deg,
      new cmd heading: 161.954876 deg.

2025-09-04T18:26:20.453Z,1757010380.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826646 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:20.513Z,1757010380.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760353
2025-09-04T18:26:20.765Z,1757010380.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012169
2025-09-04T18:26:20.862Z,1757010380.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:20.868Z,1757010380.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 345.566376 m,
      bearing: 161.362512 deg,
      approach rate: -0.700716 m/s,
      LOS rate: -0.015042 deg/s,
      cmd heading: 161.954877 deg,
      new cmd heading: 161.942019 deg.

2025-09-04T18:26:20.869Z,1757010380.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826421 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:21.022Z,1757010381.022 [DAT](INFO): DAT read: Rx Time:18:26:19.7626

2025-09-04T18:26:21.022Z,1757010381.022 [DAT](INFO): Rx dataTimestamp_ set to:1757010381.021704
2025-09-04T18:26:21.023Z,1757010381.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269770
2025-09-04T18:26:21.284Z,1757010381.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522483
2025-09-04T18:26:21.287Z,1757010381.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:21.311Z,1757010381.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 345.269684 m,
      bearing: 161.356132 deg,
      approach rate: -0.698969 m/s,
      LOS rate: -0.015042 deg/s,
      cmd heading: 161.942023 deg,
      new cmd heading: 161.929253 deg.

2025-09-04T18:26:21.317Z,1757010381.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.826199 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:21.529Z,1757010381.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775491
2025-09-04T18:26:21.699Z,1757010381.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.63 m.
2025-09-04T18:26:21.702Z,1757010381.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.627136 m,
      nav range: 344.939850 m,
      bearing: 161.349964 deg,
      approach rate: -0.798951 m/s,
      LOS rate: -0.014955 deg/s,
      cmd heading: 161.929251 deg,
      new cmd heading: 161.916903 deg.

2025-09-04T18:26:21.703Z,1757010381.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825983 target range: 358.627136 and range: 360.20 m.
2025-09-04T18:26:21.786Z,1757010381.786 [DAT](INFO): DAT read: 18:26:19.7626 LVL= 26176, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.04, 2.590, 1.085, 2.721, 1.802, PHS= 0.890,-0.673, 0.875, RAW= 149.5, -14.0, CAL= 150.8, -16.2, ROT= 359.2,  16.2

2025-09-04T18:26:21.787Z,1757010381.787 [DAT](INFO): got valid direction response:
 18:26:19.7626 LVL= 26176, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.04, 2.590, 1.085, 2.721, 1.802, PHS= 0.890,-0.673, 0.875, RAW= 149.5, -14.0, CAL= 150.8, -16.2, ROT= 359.2,  16.2

2025-09-04T18:26:21.788Z,1757010381.788 [DAT](INFO): DAT read: Bearing 301.0,   5.9 (Local)

2025-09-04T18:26:21.789Z,1757010381.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.0,   5.9 (Local)

2025-09-04T18:26:21.790Z,1757010381.790 [DAT](INFO): DAT read: Range 11 to 50 : 357.7 m  (Round-trip  477.0 ms) speed  0.4 m/s

2025-09-04T18:26:21.791Z,1757010381.791 [DAT](INFO): DAT read: user:2756>

2025-09-04T18:26:21.792Z,1757010381.792 [DAT](INFO): DAT read: Tx time:18:26:20.8815

2025-09-04T18:26:21.792Z,1757010381.792 [DAT](INFO): Ping request sent.
2025-09-04T18:26:21.792Z,1757010381.792 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:21.792Z,1757010381.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:21.793Z,1757010381.793 [DAT](INFO): direction in FSK: [0.960200,-0.013408,-0.278991]
2025-09-04T18:26:21.794Z,1757010381.794 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:21.794Z,1757010381.794 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:21.797Z,1757010381.797 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:21.797Z,1757010381.797 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:22.119Z,1757010382.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 357.700012 m,
      deltaT: 4.044520 s,
      deltaX: -2.500000 m,
      approachRate: -0.618120 m/s,
      rangeRepo size: 4

2025-09-04T18:26:22.126Z,1757010382.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.145630 m,
      bearing: 161.147243 deg,
      lat: 36.779237 deg,
      lon: -121.859232 deg,
      deltaT: 4.044520 s,
      deltaX: -2.481506 m,
      approachRate: -0.613548 m/s,
      posRepo size: 4

2025-09-04T18:26:22.126Z,1757010382.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:22.134Z,1757010382.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 345.535431 m,
      bearing: 161.394376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014955 deg/s,
      cmd heading: 161.916902 deg,
      new cmd heading: 161.904353 deg.

2025-09-04T18:26:22.135Z,1757010382.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825764 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:22.537Z,1757010382.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:22.539Z,1757010382.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:22.542Z,1757010382.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 345.217102 m,
      bearing: 161.389222 deg,
      approach rate: -0.757358 m/s,
      LOS rate: -0.012275 deg/s,
      cmd heading: 161.904348 deg,
      new cmd heading: 161.894029 deg.

2025-09-04T18:26:22.543Z,1757010382.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825584 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:22.785Z,1757010382.785 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:22.786Z,1757010382.786 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:22.786Z,1757010382.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:22.906Z,1757010382.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:22.909Z,1757010382.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 344.944977 m,
      bearing: 161.384796 deg,
      approach rate: -0.740878 m/s,
      LOS rate: -0.012057 deg/s,
      cmd heading: 161.894034 deg,
      new cmd heading: 161.885177 deg.

2025-09-04T18:26:22.910Z,1757010382.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825429 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:23.037Z,1757010383.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245303
2025-09-04T18:26:23.292Z,1757010383.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499374
2025-09-04T18:26:23.411Z,1757010383.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:23.415Z,1757010383.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 344.570160 m,
      bearing: 161.378278 deg,
      approach rate: -0.741862 m/s,
      LOS rate: -0.012916 deg/s,
      cmd heading: 161.885182 deg,
      new cmd heading: 161.872131 deg.

2025-09-04T18:26:23.416Z,1757010383.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.825202 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:23.542Z,1757010383.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749804
2025-09-04T18:26:23.793Z,1757010383.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000986
2025-09-04T18:26:23.861Z,1757010383.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:23.864Z,1757010383.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 344.237061 m,
      bearing: 161.372406 deg,
      approach rate: -0.740603 m/s,
      LOS rate: -0.013069 deg/s,
      cmd heading: 161.872137 deg,
      new cmd heading: 161.860381 deg.

2025-09-04T18:26:23.865Z,1757010383.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824996 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:24.045Z,1757010384.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252953
2025-09-04T18:26:24.229Z,1757010384.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:24.231Z,1757010384.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 343.964111 m,
      bearing: 161.367572 deg,
      approach rate: -0.743340 m/s,
      LOS rate: -0.013176 deg/s,
      cmd heading: 161.860375 deg,
      new cmd heading: 161.850699 deg.

2025-09-04T18:26:24.233Z,1757010384.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824828 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:24.301Z,1757010384.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508532
2025-09-04T18:26:24.552Z,1757010384.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758779
2025-09-04T18:26:24.669Z,1757010384.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:24.671Z,1757010384.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:24.678Z,1757010384.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 343.649658 m,
      bearing: 161.362548 deg,
      approach rate: -0.709953 m/s,
      LOS rate: -0.011353 deg/s,
      cmd heading: 161.850703 deg,
      new cmd heading: 161.840646 deg.

2025-09-04T18:26:24.679Z,1757010384.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824652 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:24.803Z,1757010384.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010221
2025-09-04T18:26:25.048Z,1757010385.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:25.051Z,1757010385.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 343.365295 m,
      bearing: 161.357984 deg,
      approach rate: -0.755348 m/s,
      LOS rate: -0.012133 deg/s,
      cmd heading: 161.840649 deg,
      new cmd heading: 161.831514 deg.

2025-09-04T18:26:25.053Z,1757010385.053 [DAT](INFO): DAT read: Rx Time:18:26:23.7595

2025-09-04T18:26:25.054Z,1757010385.054 [DAT](INFO): Rx dataTimestamp_ set to:1757010385.053355
2025-09-04T18:26:25.054Z,1757010385.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262112
2025-09-04T18:26:25.061Z,1757010385.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824493 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:25.310Z,1757010385.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517340
2025-09-04T18:26:25.492Z,1757010385.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.15 m.
2025-09-04T18:26:25.501Z,1757010385.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.145630 m,
      nav range: 343.042664 m,
      bearing: 161.352003 deg,
      approach rate: -0.753336 m/s,
      LOS rate: -0.013978 deg/s,
      cmd heading: 161.831511 deg,
      new cmd heading: 161.819537 deg.

2025-09-04T18:26:25.503Z,1757010385.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824284 target range: 356.145630 and range: 357.70 m.
2025-09-04T18:26:25.578Z,1757010385.578 [DAT](INFO): DAT read: 18:26:23.7595 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.07, 0.216,-1.251, 0.324,-0.567, PHS= 0.885,-0.639, 0.847, RAW= 148.7, -14.4, CAL= 150.1, -16.7, ROT= 359.9,  16.7

2025-09-04T18:26:25.596Z,1757010385.596 [DAT](INFO): got valid direction response:
 18:26:23.7595 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.07, 0.216,-1.251, 0.324,-0.567, PHS= 0.885,-0.639, 0.847, RAW= 148.7, -14.4, CAL= 150.1, -16.7, ROT= 359.9,  16.7

2025-09-04T18:26:25.597Z,1757010385.597 [DAT](INFO): DAT read: Bearing 300.8,   5.0 (Local)

2025-09-04T18:26:25.598Z,1757010385.598 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8,   5.0 (Local)

2025-09-04T18:26:25.599Z,1757010385.599 [DAT](INFO): DAT read: Range 11 to 50 : 355.4 m  (Round-trip  473.9 ms) speed  0.8 m/s

2025-09-04T18:26:25.615Z,1757010385.615 [DAT](INFO): DAT read: user:2757>

2025-09-04T18:26:25.640Z,1757010385.640 [DAT](INFO): DAT read: Tx time:18:26:24.8815

2025-09-04T18:26:25.640Z,1757010385.640 [DAT](INFO): Ping request sent.
2025-09-04T18:26:25.640Z,1757010385.640 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:25.641Z,1757010385.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:25.642Z,1757010385.642 [DAT](INFO): direction in FSK: [0.957821,-0.001672,-0.287361]
2025-09-04T18:26:25.642Z,1757010385.642 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:25.642Z,1757010385.642 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:25.654Z,1757010385.654 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:25.654Z,1757010385.654 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:25.959Z,1757010385.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 355.399994 m,
      deltaT: 3.781500 s,
      deltaX: -2.300018 m,
      approachRate: -0.608229 m/s,
      rangeRepo size: 4

2025-09-04T18:26:25.962Z,1757010385.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 353.853516 m,
      bearing: 162.014784 deg,
      lat: 36.779196 deg,
      lon: -121.859260 deg,
      deltaT: 3.781500 s,
      deltaX: -2.292114 m,
      approachRate: -0.606139 m/s,
      posRepo size: 4

2025-09-04T18:26:25.962Z,1757010385.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:25.965Z,1757010385.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 346.299469 m,
      bearing: 161.993483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013978 deg/s,
      cmd heading: 161.819544 deg,
      new cmd heading: 161.806048 deg.

2025-09-04T18:26:25.966Z,1757010385.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.824048 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:26.475Z,1757010386.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:26.489Z,1757010386.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 345.918762 m,
      bearing: 161.986942 deg,
      approach rate: -0.737291 m/s,
      LOS rate: -0.012681 deg/s,
      cmd heading: 161.806048 deg,
      new cmd heading: 161.792952 deg.

2025-09-04T18:26:26.490Z,1757010386.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823820 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:26.886Z,1757010386.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:26.889Z,1757010386.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:26.891Z,1757010386.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 345.608826 m,
      bearing: 161.981570 deg,
      approach rate: -0.749129 m/s,
      LOS rate: -0.012995 deg/s,
      cmd heading: 161.792947 deg,
      new cmd heading: 161.782194 deg.

2025-09-04T18:26:26.893Z,1757010386.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823632 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:27.085Z,1757010387.085 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:27.085Z,1757010387.085 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:27.085Z,1757010387.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:27.251Z,1757010387.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:27.254Z,1757010387.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 345.339783 m,
      bearing: 161.976893 deg,
      approach rate: -0.742784 m/s,
      LOS rate: -0.012922 deg/s,
      cmd heading: 161.782197 deg,
      new cmd heading: 161.772836 deg.

2025-09-04T18:26:27.255Z,1757010387.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823469 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:27.341Z,1757010387.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700449
2025-09-04T18:26:27.589Z,1757010387.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948459
2025-09-04T18:26:27.694Z,1757010387.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:27.697Z,1757010387.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 345.030121 m,
      bearing: 161.970407 deg,
      approach rate: -0.699733 m/s,
      LOS rate: -0.014670 deg/s,
      cmd heading: 161.772839 deg,
      new cmd heading: 161.759855 deg.

2025-09-04T18:26:27.698Z,1757010387.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823242 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:27.841Z,1757010387.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200631
2025-09-04T18:26:28.061Z,1757010388.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:28.064Z,1757010388.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 344.754944 m,
      bearing: 161.964578 deg,
      approach rate: -0.748343 m/s,
      LOS rate: -0.015867 deg/s,
      cmd heading: 161.759862 deg,
      new cmd heading: 161.748193 deg.

2025-09-04T18:26:28.065Z,1757010388.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.823039 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:28.093Z,1757010388.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452506
2025-09-04T18:26:28.348Z,1757010388.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706665
2025-09-04T18:26:28.536Z,1757010388.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:28.539Z,1757010388.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 344.421387 m,
      bearing: 161.956114 deg,
      approach rate: -0.708829 m/s,
      LOS rate: -0.018004 deg/s,
      cmd heading: 161.748196 deg,
      new cmd heading: 161.731251 deg.

2025-09-04T18:26:28.544Z,1757010388.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.822743 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:28.598Z,1757010388.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957798
2025-09-04T18:26:28.849Z,1757010388.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208540
2025-09-04T18:26:28.861Z,1757010388.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:28.864Z,1757010388.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 344.176453 m,
      bearing: 161.949885 deg,
      approach rate: -0.744205 m/s,
      LOS rate: -0.018940 deg/s,
      cmd heading: 161.731257 deg,
      new cmd heading: 161.718790 deg.

2025-09-04T18:26:28.865Z,1757010388.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.822525 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:29.101Z,1757010389.101 [DAT](INFO): DAT read: Rx Time:18:26:27.7556

2025-09-04T18:26:29.101Z,1757010389.101 [DAT](INFO): Rx dataTimestamp_ set to:1757010389.101212
2025-09-04T18:26:29.102Z,1757010389.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461515
2025-09-04T18:26:29.267Z,1757010389.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:29.270Z,1757010389.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.85 m.
2025-09-04T18:26:29.273Z,1757010389.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 353.853516 m,
      nav range: 343.880951 m,
      bearing: 161.942338 deg,
      approach rate: -0.722767 m/s,
      LOS rate: -0.018475 deg/s,
      cmd heading: 161.718785 deg,
      new cmd heading: 161.703678 deg.

2025-09-04T18:26:29.274Z,1757010389.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.822262 target range: 353.853516 and range: 355.40 m.
2025-09-04T18:26:29.355Z,1757010389.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.713722
2025-09-04T18:26:29.611Z,1757010389.611 [DAT](INFO): DAT read: 18:26:27.7556 LVL= 28752, 31601, 32754, 32755, AGC= 67, IDX= 409, 0.21,-0.240,-1.529,-0.158,-0.752, PHS= 0.614,-0.731, 0.550, RAW= 147.6,  -6.6, CAL= 147.6,  -8.0, ROT=   2.4,   8.0

2025-09-04T18:26:29.613Z,1757010389.613 [DAT](INFO): got valid direction response:
 18:26:27.7556 LVL= 28752, 31601, 32754, 32755, AGC= 67, IDX= 409, 0.21,-0.240,-1.529,-0.158,-0.752, PHS= 0.614,-0.731, 0.550, RAW= 147.6,  -6.6, CAL= 147.6,  -8.0, ROT=   2.4,   8.0

2025-09-04T18:26:29.614Z,1757010389.614 [DAT](INFO): DAT read: Bearing 309.8,   6.1 (Local)

2025-09-04T18:26:29.614Z,1757010389.614 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.8,   6.1 (Local)

2025-09-04T18:26:29.615Z,1757010389.615 [DAT](INFO): DAT read: Range 11 to 50 : 352.5 m  (Round-trip  470.0 ms) speed  0.7 m/s

2025-09-04T18:26:29.617Z,1757010389.617 [DAT](INFO): DAT read: user:2758>

2025-09-04T18:26:29.617Z,1757010389.617 [DAT](INFO): DAT read: Tx time:18:26:28.8815

2025-09-04T18:26:29.618Z,1757010389.618 [DAT](INFO): Ping request sent.
2025-09-04T18:26:29.618Z,1757010389.618 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:29.618Z,1757010389.618 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:29.619Z,1757010389.619 [DAT](INFO): direction in FSK: [0.989399,0.041468,-0.139173]
2025-09-04T18:26:29.619Z,1757010389.619 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:29.620Z,1757010389.620 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:29.651Z,1757010389.651 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:29.651Z,1757010389.651 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:29.825Z,1757010389.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 352.500000 m,
      deltaT: 4.046127 s,
      deltaX: -2.899994 m,
      approachRate: -0.716733 m/s,
      rangeRepo size: 4

2025-09-04T18:26:29.827Z,1757010389.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.974030 m,
      bearing: 164.948207 deg,
      lat: 36.779192 deg,
      lon: -121.859260 deg,
      deltaT: 4.046127 s,
      deltaX: -2.879486 m,
      approachRate: -0.711665 m/s,
      posRepo size: 4

2025-09-04T18:26:29.827Z,1757010389.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:29.838Z,1757010389.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 343.890625 m,
      bearing: 161.952931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018475 deg/s,
      cmd heading: 161.703677 deg,
      new cmd heading: 161.683507 deg.

2025-09-04T18:26:29.839Z,1757010389.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.821910 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:30.109Z,1757010390.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:30.116Z,1757010390.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 343.674988 m,
      bearing: 161.947034 deg,
      approach rate: -0.748509 m/s,
      LOS rate: -0.020481 deg/s,
      cmd heading: 161.683514 deg,
      new cmd heading: 161.671714 deg.

2025-09-04T18:26:30.117Z,1757010390.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.821704 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:30.526Z,1757010390.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:30.533Z,1757010390.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 343.375519 m,
      bearing: 161.938525 deg,
      approach rate: -0.708631 m/s,
      LOS rate: -0.020152 deg/s,
      cmd heading: 161.671711 deg,
      new cmd heading: 161.654679 deg.

2025-09-04T18:26:30.534Z,1757010390.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.821406 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:30.889Z,1757010390.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:30.893Z,1757010390.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 343.100128 m,
      bearing: 161.930710 deg,
      approach rate: -0.758616 m/s,
      LOS rate: -0.021545 deg/s,
      cmd heading: 161.654677 deg,
      new cmd heading: 161.639034 deg.

2025-09-04T18:26:30.893Z,1757010390.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.821133 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:31.316Z,1757010391.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:31.318Z,1757010391.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:31.321Z,1757010391.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 342.802734 m,
      bearing: 161.922256 deg,
      approach rate: -0.693095 m/s,
      LOS rate: -0.019720 deg/s,
      cmd heading: 161.639036 deg,
      new cmd heading: 161.622113 deg.

2025-09-04T18:26:31.322Z,1757010391.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820838 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:31.376Z,1757010391.376 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:31.376Z,1757010391.376 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:31.377Z,1757010391.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:31.625Z,1757010391.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007260
2025-09-04T18:26:31.720Z,1757010391.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:31.723Z,1757010391.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 342.505493 m,
      bearing: 161.913452 deg,
      approach rate: -0.740709 m/s,
      LOS rate: -0.021958 deg/s,
      cmd heading: 161.622111 deg,
      new cmd heading: 161.604488 deg.

2025-09-04T18:26:31.724Z,1757010391.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820530 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:31.877Z,1757010391.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258978
2025-09-04T18:26:32.094Z,1757010392.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:32.097Z,1757010392.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 342.237274 m,
      bearing: 161.905499 deg,
      approach rate: -0.716485 m/s,
      LOS rate: -0.021262 deg/s,
      cmd heading: 161.604489 deg,
      new cmd heading: 161.588570 deg.

2025-09-04T18:26:32.098Z,1757010392.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.820253 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:32.132Z,1757010392.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514094
2025-09-04T18:26:32.381Z,1757010392.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763261
2025-09-04T18:26:32.529Z,1757010392.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:32.531Z,1757010392.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 341.924652 m,
      bearing: 161.897497 deg,
      approach rate: -0.719305 m/s,
      LOS rate: -0.018427 deg/s,
      cmd heading: 161.588574 deg,
      new cmd heading: 161.572557 deg.

2025-09-04T18:26:32.533Z,1757010392.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.819973 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:32.635Z,1757010392.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016829
2025-09-04T18:26:32.885Z,1757010392.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267051
2025-09-04T18:26:32.912Z,1757010392.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:32.915Z,1757010392.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 341.648407 m,
      bearing: 161.890416 deg,
      approach rate: -0.720225 m/s,
      LOS rate: -0.018478 deg/s,
      cmd heading: 161.572551 deg,
      new cmd heading: 161.558376 deg.

2025-09-04T18:26:32.919Z,1757010392.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.819726 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:33.137Z,1757010393.137 [DAT](INFO): DAT read: Rx Time:18:26:31.7525

2025-09-04T18:26:33.138Z,1757010393.138 [DAT](INFO): Rx dataTimestamp_ set to:1757010393.137889
2025-09-04T18:26:33.139Z,1757010393.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520750
2025-09-04T18:26:33.334Z,1757010393.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:33.344Z,1757010393.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.97 m.
2025-09-04T18:26:33.347Z,1757010393.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.974030 m,
      nav range: 341.355255 m,
      bearing: 161.882863 deg,
      approach rate: -0.691778 m/s,
      LOS rate: -0.017839 deg/s,
      cmd heading: 161.558371 deg,
      new cmd heading: 161.543252 deg.

2025-09-04T18:26:33.356Z,1757010393.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.819462 target range: 350.974030 and range: 352.50 m.
2025-09-04T18:26:33.389Z,1757010393.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771277
2025-09-04T18:26:33.647Z,1757010393.647 [DAT](INFO): DAT read: 18:26:31.7525 LVL= 30496, 32753, 32754, 32755, AGC= 74, IDX= 219, 0.32, 2.613, 1.014, 2.551, 2.252, PHS= 0.463,-1.192, 0.255, RAW= 143.4,   6.1, CAL= 143.0,   6.7, ROT=   7.0,  -6.7

2025-09-04T18:26:33.648Z,1757010393.648 [DAT](INFO): got valid direction response:
 18:26:31.7525 LVL= 30496, 32753, 32754, 32755, AGC= 74, IDX= 219, 0.32, 2.613, 1.014, 2.551, 2.252, PHS= 0.463,-1.192, 0.255, RAW= 143.4,   6.1, CAL= 143.0,   6.7, ROT=   7.0,  -6.7

2025-09-04T18:26:33.649Z,1757010393.649 [DAT](INFO): DAT read: Bearing 325.1,   9.3 (Local)

2025-09-04T18:26:33.649Z,1757010393.649 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.1,   9.3 (Local)

2025-09-04T18:26:33.651Z,1757010393.651 [DAT](INFO): DAT read: Range 11 to 50 : 350.1 m  (Round-trip  466.8 ms) speed  0.5 m/s

2025-09-04T18:26:33.651Z,1757010393.651 [DAT](INFO): DAT read: user:2759>

2025-09-04T18:26:33.652Z,1757010393.652 [DAT](INFO): DAT read: Tx time:18:26:32.8815

2025-09-04T18:26:33.652Z,1757010393.652 [DAT](INFO): Ping request sent.
2025-09-04T18:26:33.653Z,1757010393.653 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:33.653Z,1757010393.653 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:33.654Z,1757010393.654 [DAT](INFO): direction in FSK: [0.985768,0.121037,0.116671]
2025-09-04T18:26:33.654Z,1757010393.654 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:33.654Z,1757010393.654 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:33.658Z,1757010393.658 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:33.658Z,1757010393.658 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:33.851Z,1757010393.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 350.100006 m,
      deltaT: 4.035904 s,
      deltaX: -2.399994 m,
      approachRate: -0.594661 m/s,
      rangeRepo size: 4

2025-09-04T18:26:33.861Z,1757010393.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.585449 m,
      bearing: 169.910081 deg,
      lat: 36.779192 deg,
      lon: -121.859260 deg,
      deltaT: 4.035904 s,
      deltaX: -2.388580 m,
      approachRate: -0.591833 m/s,
      posRepo size: 4

2025-09-04T18:26:33.862Z,1757010393.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:33.873Z,1757010393.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 340.993805 m,
      bearing: 161.873218 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017839 deg/s,
      cmd heading: 161.543249 deg,
      new cmd heading: 161.524914 deg.

2025-09-04T18:26:33.874Z,1757010393.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.819142 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:34.167Z,1757010394.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:34.170Z,1757010394.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 340.748993 m,
      bearing: 161.866680 deg,
      approach rate: -0.774016 m/s,
      LOS rate: -0.020685 deg/s,
      cmd heading: 161.524917 deg,
      new cmd heading: 161.511832 deg.

2025-09-04T18:26:34.171Z,1757010394.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818913 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:34.593Z,1757010394.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:34.597Z,1757010394.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 340.431976 m,
      bearing: 161.860046 deg,
      approach rate: -0.742943 m/s,
      LOS rate: -0.015562 deg/s,
      cmd heading: 161.511830 deg,
      new cmd heading: 161.498550 deg.

2025-09-04T18:26:34.598Z,1757010394.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818681 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:34.998Z,1757010394.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:35.005Z,1757010395.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 340.149170 m,
      bearing: 161.854136 deg,
      approach rate: -0.698952 m/s,
      LOS rate: -0.014619 deg/s,
      cmd heading: 161.498553 deg,
      new cmd heading: 161.486722 deg.

2025-09-04T18:26:35.006Z,1757010395.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818475 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:35.376Z,1757010395.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:35.378Z,1757010395.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:35.381Z,1757010395.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 339.853638 m,
      bearing: 161.847945 deg,
      approach rate: -0.776897 m/s,
      LOS rate: -0.016289 deg/s,
      cmd heading: 161.486723 deg,
      new cmd heading: 161.474330 deg.

2025-09-04T18:26:35.382Z,1757010395.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818259 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:35.405Z,1757010395.405 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:35.405Z,1757010395.405 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:35.405Z,1757010395.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:35.657Z,1757010395.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004586
2025-09-04T18:26:35.826Z,1757010395.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:35.845Z,1757010395.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 339.524048 m,
      bearing: 161.841219 deg,
      approach rate: -0.735291 m/s,
      LOS rate: -0.015019 deg/s,
      cmd heading: 161.474333 deg,
      new cmd heading: 161.460868 deg.

2025-09-04T18:26:35.846Z,1757010395.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.818024 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:35.909Z,1757010395.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256489
2025-09-04T18:26:36.161Z,1757010396.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508585
2025-09-04T18:26:36.202Z,1757010396.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:36.205Z,1757010396.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 339.248383 m,
      bearing: 161.835572 deg,
      approach rate: -0.732749 m/s,
      LOS rate: -0.015023 deg/s,
      cmd heading: 161.460864 deg,
      new cmd heading: 161.449560 deg.

2025-09-04T18:26:36.206Z,1757010396.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.817827 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:36.416Z,1757010396.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763322
2025-09-04T18:26:36.634Z,1757010396.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:36.637Z,1757010396.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 338.927673 m,
      bearing: 161.828983 deg,
      approach rate: -0.742793 m/s,
      LOS rate: -0.015275 deg/s,
      cmd heading: 161.449566 deg,
      new cmd heading: 161.436377 deg.

2025-09-04T18:26:36.638Z,1757010396.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.817596 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:36.665Z,1757010396.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012824
2025-09-04T18:26:36.917Z,1757010396.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264583
2025-09-04T18:26:37.013Z,1757010397.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:37.015Z,1757010397.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 338.647308 m,
      bearing: 161.823213 deg,
      approach rate: -0.740298 m/s,
      LOS rate: -0.015250 deg/s,
      cmd heading: 161.436370 deg,
      new cmd heading: 161.424820 deg.

2025-09-04T18:26:37.017Z,1757010397.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.817394 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:37.169Z,1757010397.169 [DAT](INFO): DAT read: Rx Time:18:26:35.7486

2025-09-04T18:26:37.169Z,1757010397.169 [DAT](INFO): Rx dataTimestamp_ set to:1757010397.169177
2025-09-04T18:26:37.170Z,1757010397.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517444
2025-09-04T18:26:37.421Z,1757010397.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768346
2025-09-04T18:26:37.433Z,1757010397.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:37.435Z,1757010397.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.59 m.
2025-09-04T18:26:37.438Z,1757010397.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.585449 m,
      nav range: 338.334015 m,
      bearing: 161.816753 deg,
      approach rate: -0.741744 m/s,
      LOS rate: -0.015307 deg/s,
      cmd heading: 161.424814 deg,
      new cmd heading: 161.411883 deg.

2025-09-04T18:26:37.439Z,1757010397.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.817169 target range: 348.585449 and range: 350.10 m.
2025-09-04T18:26:37.679Z,1757010397.679 [DAT](INFO): DAT read: 18:26:35.7486 LVL= 26016, 32593, 30834, 32755, AGC= 67, IDX= 401, 0.40,-1.529,-3.070,-1.472,-2.275, PHS= 0.848,-0.751, 0.759, RAW= 147.2, -11.0, CAL= 147.8, -13.0, ROT=   2.2,  13.0

2025-09-04T18:26:37.680Z,1757010397.680 [DAT](INFO): got valid direction response:
 18:26:35.7486 LVL= 26016, 32593, 30834, 32755, AGC= 67, IDX= 401, 0.40,-1.529,-3.070,-1.472,-2.275, PHS= 0.848,-0.751, 0.759, RAW= 147.2, -11.0, CAL= 147.8, -13.0, ROT=   2.2,  13.0

2025-09-04T18:26:37.681Z,1757010397.681 [DAT](INFO): DAT read: Bearing 305.2,   4.3 (Local)

2025-09-04T18:26:37.682Z,1757010397.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.2,   4.3 (Local)

2025-09-04T18:26:37.683Z,1757010397.683 [DAT](INFO): DAT read: Range 11 to 50 : 347.2 m  (Round-trip  463.0 ms) speed  1.0 m/s

2025-09-04T18:26:37.684Z,1757010397.684 [DAT](INFO): DAT read: user:2760>

2025-09-04T18:26:37.685Z,1757010397.685 [DAT](INFO): DAT read: Tx time:18:26:36.8814

2025-09-04T18:26:37.685Z,1757010397.685 [DAT](INFO): Ping request sent.
2025-09-04T18:26:37.685Z,1757010397.685 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:37.685Z,1757010397.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:37.686Z,1757010397.686 [DAT](INFO): direction in FSK: [0.973652,0.037404,-0.224951]
2025-09-04T18:26:37.687Z,1757010397.687 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:37.687Z,1757010397.687 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:37.690Z,1757010397.690 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:37.690Z,1757010397.690 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:37.881Z,1757010397.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 347.200012 m,
      deltaT: 4.032124 s,
      deltaX: -2.899994 m,
      approachRate: -0.719222 m/s,
      rangeRepo size: 4

2025-09-04T18:26:37.883Z,1757010397.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 345.698639 m,
      bearing: 164.473234 deg,
      lat: 36.779141 deg,
      lon: -121.859425 deg,
      deltaT: 4.032124 s,
      deltaX: -2.886810 m,
      approachRate: -0.715953 m/s,
      posRepo size: 4

2025-09-04T18:26:37.883Z,1757010397.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:37.915Z,1757010397.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 339.186646 m,
      bearing: 164.472646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015307 deg/s,
      cmd heading: 161.411877 deg,
      new cmd heading: 161.398391 deg.

2025-09-04T18:26:37.916Z,1757010397.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816933 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:38.283Z,1757010398.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:38.289Z,1757010398.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 338.875519 m,
      bearing: 164.469580 deg,
      approach rate: -0.763925 m/s,
      LOS rate: -0.007535 deg/s,
      cmd heading: 161.398395 deg,
      new cmd heading: 161.392257 deg.

2025-09-04T18:26:38.290Z,1757010398.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816826 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:38.677Z,1757010398.677 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 163.29, 157.85, 177.6-378,-32768,V
2025-09-04T18:26:38.729Z,1757010398.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:38.731Z,1757010398.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 338.552307 m,
      bearing: 164.466398 deg,
      approach rate: -0.725337 m/s,
      LOS rate: -0.007148 deg/s,
      cmd heading: 161.392261 deg,
      new cmd heading: 161.385891 deg.

2025-09-04T18:26:38.740Z,1757010398.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816715 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:39.104Z,1757010399.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:39.108Z,1757010399.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 338.253448 m,
      bearing: 164.463469 deg,
      approach rate: -0.795571 m/s,
      LOS rate: -0.007805 deg/s,
      cmd heading: 161.385895 deg,
      new cmd heading: 161.380031 deg.

2025-09-04T18:26:39.109Z,1757010399.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816613 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:39.583Z,1757010399.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:39.603Z,1757010399.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:39.606Z,1757010399.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 337.894562 m,
      bearing: 164.459952 deg,
      approach rate: -0.719431 m/s,
      LOS rate: -0.007057 deg/s,
      cmd heading: 161.380035 deg,
      new cmd heading: 161.372995 deg.

2025-09-04T18:26:39.607Z,1757010399.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816490 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:39.689Z,1757010399.689 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:39.689Z,1757010399.689 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:39.689Z,1757010399.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:39.941Z,1757010399.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255979
2025-09-04T18:26:39.955Z,1757010399.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:39.983Z,1757010399.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 337.622284 m,
      bearing: 164.457174 deg,
      approach rate: -0.772895 m/s,
      LOS rate: -0.007892 deg/s,
      cmd heading: 161.373000 deg,
      new cmd heading: 161.367440 deg.

2025-09-04T18:26:39.984Z,1757010399.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816393 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:40.194Z,1757010400.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509030
2025-09-04T18:26:40.347Z,1757010400.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:40.350Z,1757010400.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 337.344666 m,
      bearing: 164.454319 deg,
      approach rate: -0.708769 m/s,
      LOS rate: -0.007297 deg/s,
      cmd heading: 161.367440 deg,
      new cmd heading: 161.361724 deg.

2025-09-04T18:26:40.351Z,1757010400.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816293 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:40.445Z,1757010400.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759984
2025-09-04T18:26:40.697Z,1757010400.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011878
2025-09-04T18:26:40.763Z,1757010400.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:40.793Z,1757010400.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 337.032349 m,
      bearing: 164.450722 deg,
      approach rate: -0.752749 m/s,
      LOS rate: -0.008676 deg/s,
      cmd heading: 161.361730 deg,
      new cmd heading: 161.354531 deg.

2025-09-04T18:26:40.794Z,1757010400.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816168 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:40.949Z,1757010400.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263859
2025-09-04T18:26:41.136Z,1757010401.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:41.139Z,1757010401.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 336.754608 m,
      bearing: 164.447527 deg,
      approach rate: -0.742463 m/s,
      LOS rate: -0.008548 deg/s,
      cmd heading: 161.354531 deg,
      new cmd heading: 161.348136 deg.

2025-09-04T18:26:41.140Z,1757010401.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.816056 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:41.202Z,1757010401.202 [DAT](INFO): DAT read: Rx Time:18:26:39.7451

2025-09-04T18:26:41.203Z,1757010401.203 [DAT](INFO): Rx dataTimestamp_ set to:1757010401.202439
2025-09-04T18:26:41.204Z,1757010401.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518472
2025-09-04T18:26:41.453Z,1757010401.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768147
2025-09-04T18:26:41.647Z,1757010401.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:41.649Z,1757010401.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-09-04T18:26:41.652Z,1757010401.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.698639 m,
      nav range: 336.379486 m,
      bearing: 164.442272 deg,
      approach rate: -0.731208 m/s,
      LOS rate: -0.010256 deg/s,
      cmd heading: 161.348138 deg,
      new cmd heading: 161.337615 deg.

2025-09-04T18:26:41.653Z,1757010401.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815873 target range: 345.698639 and range: 347.20 m.
2025-09-04T18:26:41.711Z,1757010401.711 [DAT](INFO): DAT read: 18:26:39.7451 LVL= 25504, 30913, 29890, 32755, AGC= 70, IDX= 398,-0.20,-3.025, 1.752,-2.937, 2.573, PHS= 0.788,-0.775, 0.730, RAW= 148.1,  -9.7, CAL= 148.6, -11.5, ROT=   1.4,  11.5

2025-09-04T18:26:41.712Z,1757010401.712 [DAT](INFO): got valid direction response:
 18:26:39.7451 LVL= 25504, 30913, 29890, 32755, AGC= 70, IDX= 398,-0.20,-3.025, 1.752,-2.937, 2.573, PHS= 0.788,-0.775, 0.730, RAW= 148.1,  -9.7, CAL= 148.6, -11.5, ROT=   1.4,  11.5

2025-09-04T18:26:41.713Z,1757010401.713 [DAT](INFO): DAT read: Bearing 306.8,   2.9 (Local)

2025-09-04T18:26:41.713Z,1757010401.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.8,   2.9 (Local)

2025-09-04T18:26:41.715Z,1757010401.715 [DAT](INFO): DAT read: Range 11 to 50 : 344.6 m  (Round-trip  459.5 ms) speed  0.7 m/s

2025-09-04T18:26:41.716Z,1757010401.716 [DAT](INFO): DAT read: user:2761>

2025-09-04T18:26:41.717Z,1757010401.717 [DAT](INFO): DAT read: Tx time:18:26:40.8814

2025-09-04T18:26:41.717Z,1757010401.717 [DAT](INFO): Ping request sent.
2025-09-04T18:26:41.717Z,1757010401.717 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:41.717Z,1757010401.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:41.718Z,1757010401.718 [DAT](INFO): direction in FSK: [0.979632,0.023942,-0.199368]
2025-09-04T18:26:41.718Z,1757010401.718 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:41.719Z,1757010401.719 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:41.722Z,1757010401.722 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:41.722Z,1757010401.722 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:42.091Z,1757010402.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 344.600006 m,
      deltaT: 4.031965 s,
      deltaX: -2.600006 m,
      approachRate: -0.644848 m/s,
      rangeRepo size: 4

2025-09-04T18:26:42.093Z,1757010402.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 343.111786 m,
      bearing: 163.740613 deg,
      lat: 36.779139 deg,
      lon: -121.859425 deg,
      deltaT: 4.031965 s,
      deltaX: -2.586853 m,
      approachRate: -0.641586 m/s,
      posRepo size: 4

2025-09-04T18:26:42.094Z,1757010402.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:42.097Z,1757010402.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 336.296082 m,
      bearing: 164.449026 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010256 deg/s,
      cmd heading: 161.337620 deg,
      new cmd heading: 161.328567 deg.

2025-09-04T18:26:42.098Z,1757010402.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815715 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:42.512Z,1757010402.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:42.533Z,1757010402.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 336.010132 m,
      bearing: 164.445010 deg,
      approach rate: -0.678967 m/s,
      LOS rate: -0.009542 deg/s,
      cmd heading: 161.328563 deg,
      new cmd heading: 161.320525 deg.

2025-09-04T18:26:42.534Z,1757010402.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815574 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:43.063Z,1757010403.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:43.066Z,1757010403.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 335.594818 m,
      bearing: 164.438116 deg,
      approach rate: -0.753220 m/s,
      LOS rate: -0.012520 deg/s,
      cmd heading: 161.320530 deg,
      new cmd heading: 161.306724 deg.

2025-09-04T18:26:43.067Z,1757010403.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815333 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:43.438Z,1757010403.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:43.441Z,1757010403.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 335.329224 m,
      bearing: 164.433736 deg,
      approach rate: -0.708516 m/s,
      LOS rate: -0.011691 deg/s,
      cmd heading: 161.306720 deg,
      new cmd heading: 161.297954 deg.

2025-09-04T18:26:43.442Z,1757010403.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.815180 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:43.914Z,1757010403.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:43.916Z,1757010403.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:43.919Z,1757010403.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 334.986053 m,
      bearing: 164.427323 deg,
      approach rate: -0.717434 m/s,
      LOS rate: -0.013421 deg/s,
      cmd heading: 161.297950 deg,
      new cmd heading: 161.285111 deg.

2025-09-04T18:26:43.920Z,1757010403.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814956 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:43.974Z,1757010403.974 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:43.974Z,1757010403.974 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:43.974Z,1757010403.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:44.225Z,1757010404.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508150
2025-09-04T18:26:44.326Z,1757010404.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:44.330Z,1757010404.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 334.699829 m,
      bearing: 164.421989 deg,
      approach rate: -0.698826 m/s,
      LOS rate: -0.013035 deg/s,
      cmd heading: 161.285109 deg,
      new cmd heading: 161.274431 deg.

2025-09-04T18:26:44.331Z,1757010404.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814770 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:44.478Z,1757010404.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760649
2025-09-04T18:26:44.729Z,1757010404.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012074
2025-09-04T18:26:44.761Z,1757010404.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:44.771Z,1757010404.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 334.410187 m,
      bearing: 164.416489 deg,
      approach rate: -0.665045 m/s,
      LOS rate: -0.012640 deg/s,
      cmd heading: 161.274427 deg,
      new cmd heading: 161.263416 deg.

2025-09-04T18:26:44.774Z,1757010404.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814578 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:44.981Z,1757010404.981 [DAT](INFO): DAT read: Rx Time:18:26:43.7415

2025-09-04T18:26:44.981Z,1757010404.981 [DAT](INFO): Rx dataTimestamp_ set to:1757010404.981175
2025-09-04T18:26:44.982Z,1757010404.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265027
2025-09-04T18:26:45.135Z,1757010405.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:45.138Z,1757010405.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 334.118805 m,
      bearing: 164.410980 deg,
      approach rate: -0.779930 m/s,
      LOS rate: -0.014758 deg/s,
      cmd heading: 161.263416 deg,
      new cmd heading: 161.252389 deg.

2025-09-04T18:26:45.139Z,1757010405.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814385 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:45.234Z,1757010405.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516956
2025-09-04T18:26:45.486Z,1757010405.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768736
2025-09-04T18:26:45.673Z,1757010405.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 343.11 m.
2025-09-04T18:26:45.675Z,1757010405.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 343.111786 m,
      nav range: 333.772003 m,
      bearing: 164.404443 deg,
      approach rate: -0.650682 m/s,
      LOS rate: -0.012277 deg/s,
      cmd heading: 161.252392 deg,
      new cmd heading: 161.239305 deg.

2025-09-04T18:26:45.689Z,1757010405.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.814157 target range: 343.111786 and range: 344.60 m.
2025-09-04T18:26:45.745Z,1757010405.745 [DAT](INFO): DAT read: 18:26:43.7415 LVL= 26192, 32753, 26098, 32755, AGC= 69, IDX= 409, 0.04,-1.159,-2.634,-1.155,-1.856, PHS= 0.799,-0.733, 0.657, RAW= 145.2,  -9.9, CAL= 145.6, -11.7, ROT=   4.4,  11.7

2025-09-04T18:26:45.747Z,1757010405.747 [DAT](INFO): got valid direction response:
 18:26:43.7415 LVL= 26192, 32753, 26098, 32755, AGC= 69, IDX= 409, 0.04,-1.159,-2.634,-1.155,-1.856, PHS= 0.799,-0.733, 0.657, RAW= 145.2,  -9.9, CAL= 145.6, -11.7, ROT=   4.4,  11.7

2025-09-04T18:26:45.750Z,1757010405.750 [DAT](INFO): DAT read: Bearing 306.6,   5.1 (Local)

2025-09-04T18:26:45.751Z,1757010405.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.6,   5.1 (Local)

2025-09-04T18:26:45.753Z,1757010405.753 [DAT](INFO): DAT read: Range 11 to 50 : 341.9 m  (Round-trip  455.9 ms) speed  0.0 m/s

2025-09-04T18:26:45.755Z,1757010405.755 [DAT](INFO): DAT read: user:2762>

2025-09-04T18:26:45.756Z,1757010405.756 [DAT](INFO): DAT read: Tx time:18:26:44.8314

2025-09-04T18:26:45.765Z,1757010405.765 [DAT](INFO): Ping request sent.
2025-09-04T18:26:45.765Z,1757010405.765 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:45.766Z,1757010405.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:45.768Z,1757010405.768 [DAT](INFO): direction in FSK: [0.976337,0.075125,-0.202787]
2025-09-04T18:26:45.781Z,1757010405.781 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:45.781Z,1757010405.781 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:45.797Z,1757010405.797 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:45.797Z,1757010405.797 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:46.073Z,1757010406.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 341.899994 m,
      deltaT: 4.032062 s,
      deltaX: -2.700012 m,
      approachRate: -0.669636 m/s,
      rangeRepo size: 4

2025-09-04T18:26:46.075Z,1757010406.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 340.421906 m,
      bearing: 166.465256 deg,
      lat: 36.779111 deg,
      lon: -121.859436 deg,
      deltaT: 4.032062 s,
      deltaX: -2.689880 m,
      approachRate: -0.667123 m/s,
      posRepo size: 4

2025-09-04T18:26:46.076Z,1757010406.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:46.078Z,1757010406.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 336.195374 m,
      bearing: 164.694275 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012277 deg/s,
      cmd heading: 161.239306 deg,
      new cmd heading: 161.229387 deg.

2025-09-04T18:26:46.079Z,1757010406.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813984 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:46.435Z,1757010406.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:46.437Z,1757010406.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:46.440Z,1757010406.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 335.932587 m,
      bearing: 164.688924 deg,
      approach rate: -0.719052 m/s,
      LOS rate: -0.014653 deg/s,
      cmd heading: 161.229388 deg,
      new cmd heading: 161.218678 deg.

2025-09-04T18:26:46.441Z,1757010406.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813797 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:46.494Z,1757010406.494 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:46.494Z,1757010406.494 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:46.495Z,1757010406.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:46.747Z,1757010406.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982065
2025-09-04T18:26:46.832Z,1757010406.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:26:46.868Z,1757010406.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:46.871Z,1757010406.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 335.620789 m,
      bearing: 164.682181 deg,
      approach rate: -0.724354 m/s,
      LOS rate: -0.015679 deg/s,
      cmd heading: 161.218679 deg,
      new cmd heading: 161.205180 deg.

2025-09-04T18:26:46.874Z,1757010406.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813561 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:46.998Z,1757010406.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232791
2025-09-04T18:26:47.250Z,1757010407.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484625
2025-09-04T18:26:47.264Z,1757010407.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:47.273Z,1757010407.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 335.350739 m,
      bearing: 164.676355 deg,
      approach rate: -0.719188 m/s,
      LOS rate: -0.015529 deg/s,
      cmd heading: 161.205182 deg,
      new cmd heading: 161.193520 deg.

2025-09-04T18:26:47.274Z,1757010407.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813358 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:47.502Z,1757010407.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736822
2025-09-04T18:26:47.710Z,1757010407.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:47.713Z,1757010407.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 335.015411 m,
      bearing: 164.669124 deg,
      approach rate: -0.718396 m/s,
      LOS rate: -0.015506 deg/s,
      cmd heading: 161.193516 deg,
      new cmd heading: 161.179041 deg.

2025-09-04T18:26:47.714Z,1757010407.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.813105 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:47.754Z,1757010407.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988940
2025-09-04T18:26:47.836Z,1757010407.836 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:26:48.005Z,1757010408.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240118
2025-09-04T18:26:48.112Z,1757010408.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:48.115Z,1757010408.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 334.732666 m,
      bearing: 164.663560 deg,
      approach rate: -0.710130 m/s,
      LOS rate: -0.013987 deg/s,
      cmd heading: 161.179036 deg,
      new cmd heading: 161.167898 deg.

2025-09-04T18:26:48.120Z,1757010408.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812911 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:48.259Z,1757010408.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494533
2025-09-04T18:26:48.471Z,1757010408.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:48.475Z,1757010408.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:48.479Z,1757010408.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 334.477478 m,
      bearing: 164.658572 deg,
      approach rate: -0.696012 m/s,
      LOS rate: -0.013614 deg/s,
      cmd heading: 161.167903 deg,
      new cmd heading: 161.157920 deg.

2025-09-04T18:26:48.481Z,1757010408.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812736 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:48.509Z,1757010408.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744287
2025-09-04T18:26:48.762Z,1757010408.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996838
2025-09-04T18:26:48.895Z,1757010408.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:48.898Z,1757010408.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 334.162689 m,
      bearing: 164.652503 deg,
      approach rate: -0.749851 m/s,
      LOS rate: -0.014470 deg/s,
      cmd heading: 161.157917 deg,
      new cmd heading: 161.145768 deg.

2025-09-04T18:26:48.899Z,1757010408.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812524 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:49.013Z,1757010409.013 [DAT](INFO): DAT read: Rx Time:18:26:47.6884

2025-09-04T18:26:49.014Z,1757010409.014 [DAT](INFO): Rx dataTimestamp_ set to:1757010409.013431
2025-09-04T18:26:49.014Z,1757010409.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249380
2025-09-04T18:26:49.266Z,1757010409.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501083
2025-09-04T18:26:49.282Z,1757010409.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.42 m.
2025-09-04T18:26:49.285Z,1757010409.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.421906 m,
      nav range: 333.881287 m,
      bearing: 164.647074 deg,
      approach rate: -0.725509 m/s,
      LOS rate: -0.014009 deg/s,
      cmd heading: 161.145773 deg,
      new cmd heading: 161.134906 deg.

2025-09-04T18:26:49.286Z,1757010409.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812335 target range: 340.421906 and range: 341.90 m.
2025-09-04T18:26:49.523Z,1757010409.523 [DAT](INFO): DAT read: 18:26:47.6884 LVL= 32736, 30273, 32754, 32755, AGC= 72, IDX= 410,-0.13, 0.951,-0.385, 1.043, 0.484, PHS= 0.569,-0.824, 0.515, RAW= 148.0,  -3.8, CAL= 147.7,  -4.8, ROT=   2.3,   4.8

2025-09-04T18:26:49.524Z,1757010409.524 [DAT](INFO): got valid direction response:
 18:26:47.6884 LVL= 32736, 30273, 32754, 32755, AGC= 72, IDX= 410,-0.13, 0.951,-0.385, 1.043, 0.484, PHS= 0.569,-0.824, 0.515, RAW= 148.0,  -3.8, CAL= 147.7,  -4.8, ROT=   2.3,   4.8

2025-09-04T18:26:49.525Z,1757010409.525 [DAT](INFO): DAT read: Bearing 313.4,   1.8 (Local)

2025-09-04T18:26:49.525Z,1757010409.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.4,   1.8 (Local)

2025-09-04T18:26:49.527Z,1757010409.527 [DAT](INFO): DAT read: Range 11 to 50 : 339.6 m  (Round-trip  452.9 ms) speed  0.5 m/s

2025-09-04T18:26:49.528Z,1757010409.528 [DAT](INFO): DAT read: user:2763>

2025-09-04T18:26:49.538Z,1757010409.538 [DAT](INFO): DAT read: Tx time:18:26:48.7814

2025-09-04T18:26:49.538Z,1757010409.538 [DAT](INFO): Ping request sent.
2025-09-04T18:26:49.538Z,1757010409.538 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:49.539Z,1757010409.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:49.540Z,1757010409.540 [DAT](INFO): direction in FSK: [0.995690,0.039991,-0.083678]
2025-09-04T18:26:49.540Z,1757010409.540 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:49.540Z,1757010409.540 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:49.543Z,1757010409.543 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:49.544Z,1757010409.544 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:49.862Z,1757010409.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 339.600006 m,
      deltaT: 3.779909 s,
      deltaX: -2.299988 m,
      approachRate: -0.608477 m/s,
      rangeRepo size: 4

2025-09-04T18:26:49.864Z,1757010409.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 338.127533 m,
      bearing: 164.232319 deg,
      lat: 36.779111 deg,
      lon: -121.859425 deg,
      deltaT: 3.779909 s,
      deltaX: -2.294373 m,
      approachRate: -0.606991 m/s,
      posRepo size: 4

2025-09-04T18:26:49.865Z,1757010409.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:49.867Z,1757010409.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 333.717896 m,
      bearing: 164.484493 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014009 deg/s,
      cmd heading: 161.134900 deg,
      new cmd heading: 161.118689 deg.

2025-09-04T18:26:49.868Z,1757010409.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.812052 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:50.215Z,1757010410.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:50.218Z,1757010410.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 333.466156 m,
      bearing: 164.480350 deg,
      approach rate: -0.711838 m/s,
      LOS rate: -0.011724 deg/s,
      cmd heading: 161.118685 deg,
      new cmd heading: 161.110393 deg.

2025-09-04T18:26:50.219Z,1757010410.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811907 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:50.616Z,1757010410.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:50.618Z,1757010410.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:50.622Z,1757010410.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 333.162018 m,
      bearing: 164.475366 deg,
      approach rate: -0.753468 m/s,
      LOS rate: -0.012359 deg/s,
      cmd heading: 161.110393 deg,
      new cmd heading: 161.100416 deg.

2025-09-04T18:26:50.623Z,1757010410.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811733 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:50.778Z,1757010410.778 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:50.778Z,1757010410.778 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:50.778Z,1757010410.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:51.029Z,1757010411.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490715
2025-09-04T18:26:51.117Z,1757010411.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:51.120Z,1757010411.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 332.820312 m,
      bearing: 164.470439 deg,
      approach rate: -0.685255 m/s,
      LOS rate: -0.009891 deg/s,
      cmd heading: 161.100421 deg,
      new cmd heading: 161.090557 deg.

2025-09-04T18:26:51.129Z,1757010411.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811561 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:51.281Z,1757010411.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742600
2025-09-04T18:26:51.491Z,1757010411.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:51.495Z,1757010411.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 332.531830 m,
      bearing: 164.466290 deg,
      approach rate: -0.772174 m/s,
      LOS rate: -0.011115 deg/s,
      cmd heading: 161.090558 deg,
      new cmd heading: 161.082253 deg.

2025-09-04T18:26:51.497Z,1757010411.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811416 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:51.533Z,1757010411.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994748
2025-09-04T18:26:51.786Z,1757010411.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247465
2025-09-04T18:26:51.915Z,1757010411.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:51.922Z,1757010411.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 332.230133 m,
      bearing: 164.462825 deg,
      approach rate: -0.711495 m/s,
      LOS rate: -0.008179 deg/s,
      cmd heading: 161.082252 deg,
      new cmd heading: 161.075316 deg.

2025-09-04T18:26:51.923Z,1757010411.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811295 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:52.038Z,1757010412.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499407
2025-09-04T18:26:52.289Z,1757010412.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750700
2025-09-04T18:26:52.296Z,1757010412.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:52.299Z,1757010412.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 331.940613 m,
      bearing: 164.459502 deg,
      approach rate: -0.759898 m/s,
      LOS rate: -0.008731 deg/s,
      cmd heading: 161.075313 deg,
      new cmd heading: 161.068660 deg.

2025-09-04T18:26:52.300Z,1757010412.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811178 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:52.551Z,1757010412.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012677
2025-09-04T18:26:52.744Z,1757010412.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:52.755Z,1757010412.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:52.762Z,1757010412.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 331.646362 m,
      bearing: 164.456122 deg,
      approach rate: -0.641528 m/s,
      LOS rate: -0.007375 deg/s,
      cmd heading: 161.068660 deg,
      new cmd heading: 161.061895 deg.

2025-09-04T18:26:52.763Z,1757010412.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.811060 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:52.793Z,1757010412.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254793
2025-09-04T18:26:53.045Z,1757010413.045 [DAT](INFO): DAT read: Rx Time:18:26:51.6344

2025-09-04T18:26:53.046Z,1757010413.046 [DAT](INFO): Rx dataTimestamp_ set to:1757010413.045296
2025-09-04T18:26:53.046Z,1757010413.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507763
2025-09-04T18:26:53.162Z,1757010413.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:53.165Z,1757010413.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 331.302765 m,
      bearing: 164.453002 deg,
      approach rate: -0.843463 m/s,
      LOS rate: -0.007668 deg/s,
      cmd heading: 161.061899 deg,
      new cmd heading: 161.055652 deg.

2025-09-04T18:26:53.166Z,1757010413.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810951 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:53.297Z,1757010413.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758861
2025-09-04T18:26:53.539Z,1757010413.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.13 m.
2025-09-04T18:26:53.542Z,1757010413.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.127533 m,
      nav range: 331.023346 m,
      bearing: 164.450459 deg,
      approach rate: -0.739620 m/s,
      LOS rate: -0.006735 deg/s,
      cmd heading: 161.055656 deg,
      new cmd heading: 161.050567 deg.

2025-09-04T18:26:53.543Z,1757010413.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810863 target range: 338.127533 and range: 339.60 m.
2025-09-04T18:26:53.555Z,1757010413.555 [DAT](INFO): DAT read: 18:26:51.6344 LVL= 26512, 25745, 28562, 27715, AGC= 69, IDX= 401, 0.41, 0.267,-1.207, 0.236,-0.380, PHS= 0.749,-0.782, 0.573, RAW= 144.0,  -7.5, CAL= 144.1,  -8.9, ROT=   5.9,   8.9

2025-09-04T18:26:53.557Z,1757010413.557 [DAT](INFO): got valid direction response:
 18:26:51.6344 LVL= 26512, 25745, 28562, 27715, AGC= 69, IDX= 401, 0.41, 0.267,-1.207, 0.236,-0.380, PHS= 0.749,-0.782, 0.573, RAW= 144.0,  -7.5, CAL= 144.1,  -8.9, ROT=   5.9,   8.9

2025-09-04T18:26:53.558Z,1757010413.558 [DAT](INFO): DAT read: Bearing 309.4,   4.3 (Local)

2025-09-04T18:26:53.558Z,1757010413.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.4,   4.3 (Local)

2025-09-04T18:26:53.560Z,1757010413.560 [DAT](INFO): DAT read: Range 11 to 50 : 336.6 m  (Round-trip  448.9 ms) speed  0.6 m/s

2025-09-04T18:26:53.585Z,1757010413.585 [DAT](INFO): DAT read: user:2764>

2025-09-04T18:26:53.586Z,1757010413.586 [DAT](INFO): DAT read: Tx time:18:26:52.7314

2025-09-04T18:26:53.586Z,1757010413.586 [DAT](INFO): Ping request sent.
2025-09-04T18:26:53.587Z,1757010413.587 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:53.587Z,1757010413.587 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:53.597Z,1757010413.597 [DAT](INFO): direction in FSK: [0.982726,0.101555,-0.154710]
2025-09-04T18:26:53.597Z,1757010413.597 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:53.597Z,1757010413.597 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:53.609Z,1757010413.609 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:53.609Z,1757010413.609 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:53.973Z,1757010413.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 336.600006 m,
      deltaT: 4.032072 s,
      deltaX: -3.000000 m,
      approachRate: -0.744034 m/s,
      rangeRepo size: 4

2025-09-04T18:26:53.975Z,1757010413.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 335.141724 m,
      bearing: 167.583179 deg,
      lat: 36.779111 deg,
      lon: -121.859425 deg,
      deltaT: 4.032072 s,
      deltaX: -2.985809 m,
      approachRate: -0.740515 m/s,
      posRepo size: 4

2025-09-04T18:26:53.975Z,1757010413.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:53.983Z,1757010413.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 330.724457 m,
      bearing: 164.448618 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006735 deg/s,
      cmd heading: 161.050560 deg,
      new cmd heading: 161.044791 deg.

2025-09-04T18:26:53.988Z,1757010413.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810762 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:54.305Z,1757010414.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:54.324Z,1757010414.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 330.468323 m,
      bearing: 164.447040 deg,
      approach rate: -0.762174 m/s,
      LOS rate: -0.004701 deg/s,
      cmd heading: 161.044796 deg,
      new cmd heading: 161.041636 deg.

2025-09-04T18:26:54.325Z,1757010414.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810707 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:54.802Z,1757010414.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:54.809Z,1757010414.809 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:54.809Z,1757010414.809 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:54.809Z,1757010414.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:54.812Z,1757010414.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:54.815Z,1757010414.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 330.125305 m,
      bearing: 164.444926 deg,
      approach rate: -0.685718 m/s,
      LOS rate: -0.004229 deg/s,
      cmd heading: 161.041640 deg,
      new cmd heading: 161.037409 deg.

2025-09-04T18:26:54.820Z,1757010414.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810633 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:55.061Z,1757010415.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474399
2025-09-04T18:26:55.195Z,1757010415.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:55.202Z,1757010415.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 329.838379 m,
      bearing: 164.443572 deg,
      approach rate: -0.733382 m/s,
      LOS rate: -0.003465 deg/s,
      cmd heading: 161.037405 deg,
      new cmd heading: 161.034695 deg.

2025-09-04T18:26:55.203Z,1757010415.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810586 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:55.314Z,1757010415.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726593
2025-09-04T18:26:55.565Z,1757010415.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978751
2025-09-04T18:26:55.566Z,1757010415.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:55.570Z,1757010415.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 329.574249 m,
      bearing: 164.442337 deg,
      approach rate: -0.719117 m/s,
      LOS rate: -0.003364 deg/s,
      cmd heading: 161.034701 deg,
      new cmd heading: 161.032230 deg.

2025-09-04T18:26:55.571Z,1757010415.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810543 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:55.819Z,1757010415.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232140
2025-09-04T18:26:55.989Z,1757010415.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:55.992Z,1757010415.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 329.265350 m,
      bearing: 164.440936 deg,
      approach rate: -0.724458 m/s,
      LOS rate: -0.003289 deg/s,
      cmd heading: 161.032228 deg,
      new cmd heading: 161.029423 deg.

2025-09-04T18:26:55.993Z,1757010415.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810494 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:56.070Z,1757010416.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482778
2025-09-04T18:26:56.321Z,1757010416.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734614
2025-09-04T18:26:56.361Z,1757010416.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:56.364Z,1757010416.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 328.978149 m,
      bearing: 164.439630 deg,
      approach rate: -0.771562 m/s,
      LOS rate: -0.003513 deg/s,
      cmd heading: 161.029428 deg,
      new cmd heading: 161.026813 deg.

2025-09-04T18:26:56.365Z,1757010416.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810448 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:56.574Z,1757010416.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987143
2025-09-04T18:26:56.825Z,1757010416.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238431
2025-09-04T18:26:56.833Z,1757010416.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:56.835Z,1757010416.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:56.842Z,1757010416.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 328.653625 m,
      bearing: 164.438161 deg,
      approach rate: -0.684536 m/s,
      LOS rate: -0.003101 deg/s,
      cmd heading: 161.026819 deg,
      new cmd heading: 161.023878 deg.

2025-09-04T18:26:56.843Z,1757010416.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810397 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:57.078Z,1757010417.078 [DAT](INFO): DAT read: Rx Time:18:26:55.5815

2025-09-04T18:26:57.078Z,1757010417.078 [DAT](INFO): Rx dataTimestamp_ set to:1757010417.078091
2025-09-04T18:26:57.079Z,1757010417.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492639
2025-09-04T18:26:57.259Z,1757010417.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.14 m.
2025-09-04T18:26:57.265Z,1757010417.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.141724 m,
      nav range: 328.342926 m,
      bearing: 164.435561 deg,
      approach rate: -0.734127 m/s,
      LOS rate: -0.006149 deg/s,
      cmd heading: 161.023882 deg,
      new cmd heading: 161.018677 deg.

2025-09-04T18:26:57.266Z,1757010417.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810306 target range: 335.141724 and range: 336.60 m.
2025-09-04T18:26:57.329Z,1757010417.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742433
2025-09-04T18:26:57.589Z,1757010417.589 [DAT](INFO): DAT read: 18:26:55.5815 LVL= 30304, 32593, 32626, 32755, AGC= 68, IDX= 419, 0.15, 2.750, 1.256, 2.837, 2.206, PHS= 0.646,-0.905, 0.588, RAW= 148.1,  -4.4, CAL= 147.8,  -5.4, ROT=   2.2,   5.4

2025-09-04T18:26:57.590Z,1757010417.590 [DAT](INFO): got valid direction response:
 18:26:55.5815 LVL= 30304, 32593, 32626, 32755, AGC= 68, IDX= 419, 0.15, 2.750, 1.256, 2.837, 2.206, PHS= 0.646,-0.905, 0.588, RAW= 148.1,  -4.4, CAL= 147.8,  -5.4, ROT=   2.2,   5.4

2025-09-04T18:26:57.591Z,1757010417.591 [DAT](INFO): DAT read: Bearing 312.8,  -0.6 (Local)

2025-09-04T18:26:57.591Z,1757010417.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  -0.6 (Local)

2025-09-04T18:26:57.593Z,1757010417.593 [DAT](INFO): DAT read: Range 11 to 50 : 334.4 m  (Round-trip  445.9 ms) speed  0.1 m/s

2025-09-04T18:26:57.594Z,1757010417.594 [DAT](INFO): DAT read: user:2765>

2025-09-04T18:26:57.594Z,1757010417.594 [DAT](INFO): DAT read: Tx time:18:26:56.6814

2025-09-04T18:26:57.595Z,1757010417.595 [DAT](INFO): Ping request sent.
2025-09-04T18:26:57.595Z,1757010417.595 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:26:57.595Z,1757010417.595 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:26:57.597Z,1757010417.597 [DAT](INFO): direction in FSK: [0.994828,0.038217,-0.094108]
2025-09-04T18:26:57.597Z,1757010417.597 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:57.598Z,1757010417.598 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:57.601Z,1757010417.601 [DAT](INFO): publishing transmit ping time
2025-09-04T18:26:57.601Z,1757010417.601 [DAT](INFO): publishing direction and range info
2025-09-04T18:26:57.738Z,1757010417.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 334.399994 m,
      deltaT: 4.032813 s,
      deltaX: -2.200012 m,
      approachRate: -0.545528 m/s,
      rangeRepo size: 4

2025-09-04T18:26:57.747Z,1757010417.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 332.950623 m,
      bearing: 163.922166 deg,
      lat: 36.779106 deg,
      lon: -121.859401 deg,
      deltaT: 4.032813 s,
      deltaX: -2.191101 m,
      approachRate: -0.543318 m/s,
      posRepo size: 4

2025-09-04T18:26:57.752Z,1757010417.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:26:57.755Z,1757010417.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 329.118347 m,
      bearing: 164.093199 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006149 deg/s,
      cmd heading: 161.018677 deg,
      new cmd heading: 161.012793 deg.

2025-09-04T18:26:57.755Z,1757010417.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810203 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:26:58.291Z,1757010418.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:26:58.302Z,1757010418.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 328.720612 m,
      bearing: 164.088921 deg,
      approach rate: -0.718261 m/s,
      LOS rate: -0.007736 deg/s,
      cmd heading: 161.012789 deg,
      new cmd heading: 161.004222 deg.

2025-09-04T18:26:58.303Z,1757010418.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.810054 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:26:58.858Z,1757010418.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:26:58.864Z,1757010418.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:26:58.867Z,1757010418.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 328.318665 m,
      bearing: 164.084640 deg,
      approach rate: -0.705835 m/s,
      LOS rate: -0.007527 deg/s,
      cmd heading: 161.004224 deg,
      new cmd heading: 160.995652 deg.

2025-09-04T18:26:58.876Z,1757010418.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809904 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:26:59.093Z,1757010419.093 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:26:59.093Z,1757010419.093 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:26:59.093Z,1757010419.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:26:59.345Z,1757010419.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750315
2025-09-04T18:26:59.352Z,1757010419.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:26:59.355Z,1757010419.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 327.955048 m,
      bearing: 164.078931 deg,
      approach rate: -0.739952 m/s,
      LOS rate: -0.011630 deg/s,
      cmd heading: 160.995646 deg,
      new cmd heading: 160.984216 deg.

2025-09-04T18:26:59.356Z,1757010419.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809705 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:26:59.597Z,1757010419.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002477
2025-09-04T18:26:59.758Z,1757010419.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:26:59.765Z,1757010419.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 327.682648 m,
      bearing: 164.074667 deg,
      approach rate: -0.670066 m/s,
      LOS rate: -0.010499 deg/s,
      cmd heading: 160.984212 deg,
      new cmd heading: 160.975676 deg.

2025-09-04T18:26:59.766Z,1757010419.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809556 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:26:59.852Z,1757010419.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256637
2025-09-04T18:27:00.101Z,1757010420.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506211
2025-09-04T18:27:00.170Z,1757010420.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:27:00.196Z,1757010420.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 327.380798 m,
      bearing: 164.068453 deg,
      approach rate: -0.732794 m/s,
      LOS rate: -0.015098 deg/s,
      cmd heading: 160.975674 deg,
      new cmd heading: 160.963236 deg.

2025-09-04T18:27:00.197Z,1757010420.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809338 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:27:00.354Z,1757010420.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759584
2025-09-04T18:27:00.554Z,1757010420.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:27:00.556Z,1757010420.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 327.123840 m,
      bearing: 164.063186 deg,
      approach rate: -0.669749 m/s,
      LOS rate: -0.013739 deg/s,
      cmd heading: 160.963230 deg,
      new cmd heading: 160.952687 deg.

2025-09-04T18:27:00.557Z,1757010420.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.809154 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:27:00.605Z,1757010420.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010273
2025-09-04T18:27:00.865Z,1757010420.865 [DAT](INFO): DAT read: Rx Time:18:26:59.5277

2025-09-04T18:27:00.867Z,1757010420.867 [DAT](INFO): Rx dataTimestamp_ set to:1757010420.865856
2025-09-04T18:27:00.871Z,1757010420.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275673
2025-09-04T18:27:00.985Z,1757010420.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:00.987Z,1757010420.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 332.95 m.
2025-09-04T18:27:00.995Z,1757010420.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 332.950623 m,
      nav range: 326.811127 m,
      bearing: 164.056202 deg,
      approach rate: -0.721816 m/s,
      LOS rate: -0.016137 deg/s,
      cmd heading: 160.952684 deg,
      new cmd heading: 160.938702 deg.

2025-09-04T18:27:00.996Z,1757010420.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808910 target range: 332.950623 and range: 334.40 m.
2025-09-04T18:27:01.113Z,1757010421.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518391
2025-09-04T18:27:01.371Z,1757010421.371 [DAT](INFO): DAT read: 18:26:59.5277 LVL= 22752, 27105, 25426, 31475, AGC= 66, IDX= 397,-0.49,-2.854, 1.865,-2.868, 2.808, PHS= 0.723,-0.897, 0.564, RAW= 144.9,  -5.1, CAL= 144.8,  -6.1, ROT=   5.2,   6.1

2025-09-04T18:27:01.372Z,1757010421.372 [DAT](INFO): got valid direction response:
 18:26:59.5277 LVL= 22752, 27105, 25426, 31475, AGC= 66, IDX= 397,-0.49,-2.854, 1.865,-2.868, 2.808, PHS= 0.723,-0.897, 0.564, RAW= 144.9,  -5.1, CAL= 144.8,  -6.1, ROT=   5.2,   6.1

2025-09-04T18:27:01.373Z,1757010421.373 [DAT](INFO): DAT read: Bearing 312.0,   1.6 (Local)

2025-09-04T18:27:01.373Z,1757010421.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,   1.6 (Local)

2025-09-04T18:27:01.375Z,1757010421.375 [DAT](INFO): DAT read: Range 11 to 50 : 331.6 m  (Round-trip  442.2 ms) speed  0.4 m/s

2025-09-04T18:27:01.376Z,1757010421.376 [DAT](INFO): DAT read: user:2766>

2025-09-04T18:27:01.376Z,1757010421.376 [DAT](INFO): DAT read: Tx time:18:27:00.6313

2025-09-04T18:27:01.377Z,1757010421.377 [DAT](INFO): Ping request sent.
2025-09-04T18:27:01.377Z,1757010421.377 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:01.377Z,1757010421.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:01.378Z,1757010421.378 [DAT](INFO): direction in FSK: [0.990246,0.090119,-0.106264]
2025-09-04T18:27:01.378Z,1757010421.378 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:01.378Z,1757010421.378 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:01.382Z,1757010421.382 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:01.382Z,1757010421.382 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:01.437Z,1757010421.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 331.600006 m,
      deltaT: 3.783110 s,
      deltaX: -2.799988 m,
      approachRate: -0.740129 m/s,
      rangeRepo size: 4

2025-09-04T18:27:01.439Z,1757010421.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 330.179413 m,
      bearing: 166.750403 deg,
      lat: 36.779090 deg,
      lon: -121.859556 deg,
      deltaT: 3.783110 s,
      deltaX: -2.771210 m,
      approachRate: -0.732522 m/s,
      posRepo size: 4

2025-09-04T18:27:01.439Z,1757010421.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:01.446Z,1757010421.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 324.718445 m,
      bearing: 166.477062 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016137 deg/s,
      cmd heading: 160.938696 deg,
      new cmd heading: 160.924474 deg.

2025-09-04T18:27:01.447Z,1757010421.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808662 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:01.783Z,1757010421.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:01.796Z,1757010421.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 324.441833 m,
      bearing: 166.472956 deg,
      approach rate: -0.778448 m/s,
      LOS rate: -0.011567 deg/s,
      cmd heading: 160.924475 deg,
      new cmd heading: 160.916255 deg.

2025-09-04T18:27:01.797Z,1757010421.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808518 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:02.226Z,1757010422.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:02.235Z,1757010422.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 324.134644 m,
      bearing: 166.468327 deg,
      approach rate: -0.694571 m/s,
      LOS rate: -0.010475 deg/s,
      cmd heading: 160.916252 deg,
      new cmd heading: 160.906986 deg.

2025-09-04T18:27:02.241Z,1757010422.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808357 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:02.582Z,1757010422.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:02.585Z,1757010422.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 323.853363 m,
      bearing: 166.464107 deg,
      approach rate: -0.789008 m/s,
      LOS rate: -0.011848 deg/s,
      cmd heading: 160.906990 deg,
      new cmd heading: 160.898542 deg.

2025-09-04T18:27:02.586Z,1757010422.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808209 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:03.013Z,1757010423.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:03.015Z,1757010423.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:03.022Z,1757010423.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 323.561798 m,
      bearing: 166.460042 deg,
      approach rate: -0.673012 m/s,
      LOS rate: -0.009392 deg/s,
      cmd heading: 160.898548 deg,
      new cmd heading: 160.890410 deg.

2025-09-04T18:27:03.023Z,1757010423.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.808067 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:03.129Z,1757010423.129 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:03.129Z,1757010423.129 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:03.129Z,1757010423.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:03.379Z,1757010423.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:03.381Z,1757010423.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004416
2025-09-04T18:27:03.384Z,1757010423.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 323.290253 m,
      bearing: 166.456293 deg,
      approach rate: -0.745633 m/s,
      LOS rate: -0.010304 deg/s,
      cmd heading: 160.890406 deg,
      new cmd heading: 160.882901 deg.

2025-09-04T18:27:03.385Z,1757010423.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807936 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:03.635Z,1757010423.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257771
2025-09-04T18:27:03.780Z,1757010423.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:03.783Z,1757010423.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 323.007141 m,
      bearing: 166.452400 deg,
      approach rate: -0.705796 m/s,
      LOS rate: -0.009714 deg/s,
      cmd heading: 160.882907 deg,
      new cmd heading: 160.875114 deg.

2025-09-04T18:27:03.784Z,1757010423.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807801 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:03.888Z,1757010423.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510674
2025-09-04T18:27:04.137Z,1757010424.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760268
2025-09-04T18:27:04.257Z,1757010424.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:04.260Z,1757010424.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 322.669464 m,
      bearing: 166.448533 deg,
      approach rate: -0.708027 m/s,
      LOS rate: -0.008115 deg/s,
      cmd heading: 160.875120 deg,
      new cmd heading: 160.867379 deg.

2025-09-04T18:27:04.261Z,1757010424.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807665 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:04.389Z,1757010424.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012490
2025-09-04T18:27:04.589Z,1757010424.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:04.591Z,1757010424.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 322.432526 m,
      bearing: 166.445825 deg,
      approach rate: -0.715176 m/s,
      LOS rate: -0.008182 deg/s,
      cmd heading: 160.867375 deg,
      new cmd heading: 160.861953 deg.

2025-09-04T18:27:04.593Z,1757010424.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807571 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:04.641Z,1757010424.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264403
2025-09-04T18:27:04.897Z,1757010424.897 [DAT](INFO): DAT read: Rx Time:18:27:03.4735

2025-09-04T18:27:04.898Z,1757010424.898 [DAT](INFO): Rx dataTimestamp_ set to:1757010424.897189
2025-09-04T18:27:04.900Z,1757010424.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522602
2025-09-04T18:27:05.020Z,1757010425.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:05.038Z,1757010425.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.18 m.
2025-09-04T18:27:05.045Z,1757010425.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.179413 m,
      nav range: 322.121429 m,
      bearing: 166.443271 deg,
      approach rate: -0.692212 m/s,
      LOS rate: -0.005686 deg/s,
      cmd heading: 160.861952 deg,
      new cmd heading: 160.856840 deg.

2025-09-04T18:27:05.046Z,1757010425.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807482 target range: 330.179413 and range: 331.60 m.
2025-09-04T18:27:05.145Z,1757010425.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768178
2025-09-04T18:27:05.406Z,1757010425.406 [DAT](INFO): DAT read: 18:27:03.4735 LVL= 24688, 26097, 26194, 28627, AGC= 72, IDX= 402, 0.06,-0.953,-2.456,-0.899,-1.542, PHS= 0.691,-0.869, 0.598, RAW= 147.0,  -5.6, CAL= 146.9,  -6.8, ROT=   3.1,   6.8

2025-09-04T18:27:05.407Z,1757010425.407 [DAT](INFO): got valid direction response:
 18:27:03.4735 LVL= 24688, 26097, 26194, 28627, AGC= 72, IDX= 402, 0.06,-0.953,-2.456,-0.899,-1.542, PHS= 0.691,-0.869, 0.598, RAW= 147.0,  -5.6, CAL= 146.9,  -6.8, ROT=   3.1,   6.8

2025-09-04T18:27:05.409Z,1757010425.409 [DAT](INFO): DAT read: Bearing 311.0,  -0.6 (Local)

2025-09-04T18:27:05.409Z,1757010425.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.0,  -0.6 (Local)

2025-09-04T18:27:05.410Z,1757010425.410 [DAT](INFO): DAT read: Range 11 to 50 : 328.5 m  (Round-trip  438.0 ms) speed  0.5 m/s

2025-09-04T18:27:05.411Z,1757010425.411 [DAT](INFO): DAT read: user:2767>

2025-09-04T18:27:05.412Z,1757010425.412 [DAT](INFO): DAT read: Tx time:18:27:04.5813

2025-09-04T18:27:05.412Z,1757010425.412 [DAT](INFO): Ping request sent.
2025-09-04T18:27:05.412Z,1757010425.412 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:05.413Z,1757010425.413 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:05.414Z,1757010425.414 [DAT](INFO): direction in FSK: [0.991512,0.053698,-0.118404]
2025-09-04T18:27:05.414Z,1757010425.414 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:05.414Z,1757010425.414 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:05.430Z,1757010425.430 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:05.430Z,1757010425.430 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:05.448Z,1757010425.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 328.500000 m,
      deltaT: 4.034375 s,
      deltaX: -3.100006 m,
      approachRate: -0.768398 m/s,
      rangeRepo size: 4

2025-09-04T18:27:05.481Z,1757010425.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 327.086304 m,
      bearing: 164.393728 deg,
      lat: 36.779090 deg,
      lon: -121.859433 deg,
      deltaT: 4.034375 s,
      deltaX: -3.093109 m,
      approachRate: -0.766689 m/s,
      posRepo size: 4

2025-09-04T18:27:05.482Z,1757010425.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:05.506Z,1757010425.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 324.605652 m,
      bearing: 164.553283 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005686 deg/s,
      cmd heading: 160.856843 deg,
      new cmd heading: 160.852192 deg.

2025-09-04T18:27:05.507Z,1757010425.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807400 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:05.967Z,1757010425.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:05.979Z,1757010425.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 324.243805 m,
      bearing: 164.548258 deg,
      approach rate: -0.695179 m/s,
      LOS rate: -0.009665 deg/s,
      cmd heading: 160.852198 deg,
      new cmd heading: 160.842137 deg.

2025-09-04T18:27:05.979Z,1757010425.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807225 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:06.380Z,1757010426.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:06.383Z,1757010426.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 323.897705 m,
      bearing: 164.543587 deg,
      approach rate: -0.839087 m/s,
      LOS rate: -0.011336 deg/s,
      cmd heading: 160.842130 deg,
      new cmd heading: 160.832779 deg.

2025-09-04T18:27:06.384Z,1757010426.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.807061 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:06.758Z,1757010426.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:06.761Z,1757010426.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 323.624084 m,
      bearing: 164.539888 deg,
      approach rate: -0.724282 m/s,
      LOS rate: -0.009801 deg/s,
      cmd heading: 160.832773 deg,
      new cmd heading: 160.825368 deg.

2025-09-04T18:27:06.761Z,1757010426.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806932 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:07.174Z,1757010427.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:07.176Z,1757010427.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:07.179Z,1757010427.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 323.327179 m,
      bearing: 164.537366 deg,
      approach rate: -0.710135 m/s,
      LOS rate: -0.006038 deg/s,
      cmd heading: 160.825369 deg,
      new cmd heading: 160.820320 deg.

2025-09-04T18:27:07.181Z,1757010427.181 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:07.181Z,1757010427.181 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:07.181Z,1757010427.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:07.182Z,1757010427.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806844 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:07.436Z,1757010427.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023294
2025-09-04T18:27:07.573Z,1757010427.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:07.580Z,1757010427.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 323.050537 m,
      bearing: 164.535029 deg,
      approach rate: -0.696603 m/s,
      LOS rate: -0.005889 deg/s,
      cmd heading: 160.820315 deg,
      new cmd heading: 160.815637 deg.

2025-09-04T18:27:07.581Z,1757010427.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806762 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:07.689Z,1757010427.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276518
2025-09-04T18:27:07.945Z,1757010427.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532563
2025-09-04T18:27:08.037Z,1757010428.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:08.040Z,1757010428.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 322.700806 m,
      bearing: 164.532462 deg,
      approach rate: -0.754885 m/s,
      LOS rate: -0.005546 deg/s,
      cmd heading: 160.815643 deg,
      new cmd heading: 160.810504 deg.

2025-09-04T18:27:08.041Z,1757010428.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806673 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:08.204Z,1757010428.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.791939
2025-09-04T18:27:08.365Z,1757010428.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:08.368Z,1757010428.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 322.462585 m,
      bearing: 164.530702 deg,
      approach rate: -0.726102 m/s,
      LOS rate: -0.005370 deg/s,
      cmd heading: 160.810507 deg,
      new cmd heading: 160.806983 deg.

2025-09-04T18:27:08.369Z,1757010428.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806611 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:08.454Z,1757010428.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041768
2025-09-04T18:27:08.708Z,1757010428.708 [DAT](INFO): DAT read: Rx Time:18:27:07.4206

2025-09-04T18:27:08.709Z,1757010428.709 [DAT](INFO): Rx dataTimestamp_ set to:1757010428.708536
2025-09-04T18:27:08.710Z,1757010428.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.297441
2025-09-04T18:27:08.796Z,1757010428.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.09 m.
2025-09-04T18:27:08.799Z,1757010428.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.086304 m,
      nav range: 322.169556 m,
      bearing: 164.528536 deg,
      approach rate: -0.685172 m/s,
      LOS rate: -0.005069 deg/s,
      cmd heading: 160.806982 deg,
      new cmd heading: 160.802646 deg.

2025-09-04T18:27:08.800Z,1757010428.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806536 target range: 327.086304 and range: 328.50 m.
2025-09-04T18:27:08.960Z,1757010428.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546812
2025-09-04T18:27:09.249Z,1757010429.249 [DAT](INFO): DAT read: 18:27:07.4206 LVL= 24704, 30065, 29282, 32755, AGC= 66, IDX= 403, 0.09,-0.739,-2.243,-0.750,-1.366, PHS= 0.729,-0.832, 0.572, RAW= 144.8,  -6.4, CAL= 144.8,  -7.6, ROT=   5.2,   7.6

2025-09-04T18:27:09.250Z,1757010429.250 [DAT](INFO): got valid direction response:
 18:27:07.4206 LVL= 24704, 30065, 29282, 32755, AGC= 66, IDX= 403, 0.09,-0.739,-2.243,-0.750,-1.366, PHS= 0.729,-0.832, 0.572, RAW= 144.8,  -6.4, CAL= 144.8,  -7.6, ROT=   5.2,   7.6

2025-09-04T18:27:09.251Z,1757010429.251 [DAT](INFO): DAT read: Bearing 310.3,   1.6 (Local)

2025-09-04T18:27:09.251Z,1757010429.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.3,   1.6 (Local)

2025-09-04T18:27:09.261Z,1757010429.261 [DAT](INFO): DAT read: Range 11 to 50 : 326.3 m  (Round-trip  435.1 ms) speed  0.5 m/s

2025-09-04T18:27:09.262Z,1757010429.262 [DAT](INFO): DAT read: user:2768>

2025-09-04T18:27:09.263Z,1757010429.263 [DAT](INFO): DAT read: Tx time:18:27:08.5313

2025-09-04T18:27:09.263Z,1757010429.263 [DAT](INFO): Ping request sent.
2025-09-04T18:27:09.263Z,1757010429.263 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:09.263Z,1757010429.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:09.269Z,1757010429.269 [DAT](INFO): direction in FSK: [0.987136,0.089836,-0.132256]
2025-09-04T18:27:09.269Z,1757010429.269 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:09.269Z,1757010429.269 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:09.288Z,1757010429.288 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:09.289Z,1757010429.289 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:09.294Z,1757010429.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 326.299988 m,
      deltaT: 3.812272 s,
      deltaX: -2.200012 m,
      approachRate: -0.577087 m/s,
      rangeRepo size: 4

2025-09-04T18:27:09.296Z,1757010429.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 324.896027 m,
      bearing: 166.399534 deg,
      lat: 36.779097 deg,
      lon: -121.859556 deg,
      deltaT: 3.812272 s,
      deltaX: -2.190277 m,
      approachRate: -0.574533 m/s,
      posRepo size: 4

2025-09-04T18:27:09.301Z,1757010429.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:09.303Z,1757010429.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 318.336975 m,
      bearing: 166.399045 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005069 deg/s,
      cmd heading: 160.802652 deg,
      new cmd heading: 160.797572 deg.

2025-09-04T18:27:09.316Z,1757010429.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806447 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:09.636Z,1757010429.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:09.639Z,1757010429.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 318.095398 m,
      bearing: 166.398709 deg,
      approach rate: -0.721154 m/s,
      LOS rate: -0.001002 deg/s,
      cmd heading: 160.797570 deg,
      new cmd heading: 160.796899 deg.

2025-09-04T18:27:09.648Z,1757010429.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806435 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:10.063Z,1757010430.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:10.066Z,1757010430.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:10.068Z,1757010430.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 317.757050 m,
      bearing: 166.398509 deg,
      approach rate: -0.773207 m/s,
      LOS rate: -0.000457 deg/s,
      cmd heading: 160.796901 deg,
      new cmd heading: 160.796501 deg.

2025-09-04T18:27:10.069Z,1757010430.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806428 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:10.218Z,1757010430.218 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:10.218Z,1757010430.218 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:10.218Z,1757010430.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:10.409Z,1757010430.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:10.412Z,1757010430.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 317.506256 m,
      bearing: 166.398368 deg,
      approach rate: -0.729634 m/s,
      LOS rate: -0.000413 deg/s,
      cmd heading: 160.796505 deg,
      new cmd heading: 160.796221 deg.

2025-09-04T18:27:10.413Z,1757010430.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806423 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:10.470Z,1757010430.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206751
2025-09-04T18:27:10.721Z,1757010430.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458324
2025-09-04T18:27:10.828Z,1757010430.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:10.831Z,1757010430.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 317.224396 m,
      bearing: 166.398211 deg,
      approach rate: -0.679494 m/s,
      LOS rate: -0.000379 deg/s,
      cmd heading: 160.796218 deg,
      new cmd heading: 160.795904 deg.

2025-09-04T18:27:10.836Z,1757010430.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806418 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:10.976Z,1757010430.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712062
2025-09-04T18:27:11.225Z,1757010431.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961965
2025-09-04T18:27:11.266Z,1757010431.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:11.269Z,1757010431.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 316.891693 m,
      bearing: 166.397220 deg,
      approach rate: -0.753324 m/s,
      LOS rate: -0.002246 deg/s,
      cmd heading: 160.795904 deg,
      new cmd heading: 160.793920 deg.

2025-09-04T18:27:11.270Z,1757010431.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806383 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:11.478Z,1757010431.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214492
2025-09-04T18:27:11.633Z,1757010431.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:11.635Z,1757010431.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 316.641785 m,
      bearing: 166.396498 deg,
      approach rate: -0.689302 m/s,
      LOS rate: -0.001993 deg/s,
      cmd heading: 160.793923 deg,
      new cmd heading: 160.792478 deg.

2025-09-04T18:27:11.641Z,1757010431.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806358 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:11.730Z,1757010431.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466517
2025-09-04T18:27:11.981Z,1757010431.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717916
2025-09-04T18:27:12.095Z,1757010432.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:12.097Z,1757010432.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:12.100Z,1757010432.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 316.295746 m,
      bearing: 166.395030 deg,
      approach rate: -0.737541 m/s,
      LOS rate: -0.003132 deg/s,
      cmd heading: 160.792475 deg,
      new cmd heading: 160.789536 deg.

2025-09-04T18:27:12.101Z,1757010432.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806307 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:12.233Z,1757010432.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970059
2025-09-04T18:27:12.435Z,1757010432.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:12.439Z,1757010432.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 316.051300 m,
      bearing: 166.393975 deg,
      approach rate: -0.723069 m/s,
      LOS rate: -0.003124 deg/s,
      cmd heading: 160.789538 deg,
      new cmd heading: 160.787426 deg.

2025-09-04T18:27:12.441Z,1757010432.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806270 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:12.486Z,1757010432.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222606
2025-09-04T18:27:12.737Z,1757010432.737 [DAT](INFO): DAT read: Rx Time:18:27:11.3668

2025-09-04T18:27:12.738Z,1757010432.738 [DAT](INFO): Rx dataTimestamp_ set to:1757010432.737315
2025-09-04T18:27:12.738Z,1757010432.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475057
2025-09-04T18:27:12.834Z,1757010432.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.90 m.
2025-09-04T18:27:12.837Z,1757010432.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.896027 m,
      nav range: 315.764221 m,
      bearing: 166.392763 deg,
      approach rate: -0.720312 m/s,
      LOS rate: -0.003045 deg/s,
      cmd heading: 160.787421 deg,
      new cmd heading: 160.784994 deg.

2025-09-04T18:27:12.839Z,1757010432.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806227 target range: 324.896027 and range: 326.30 m.
2025-09-04T18:27:12.993Z,1757010432.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729178
2025-09-04T18:27:13.247Z,1757010433.247 [DAT](INFO): DAT read: 18:27:11.3668 LVL= 22512, 26305, 26802, 28883, AGC= 67, IDX= 398, 0.00, 2.653, 1.045, 2.667, 1.878, PHS= 0.877,-0.788, 0.745, RAW= 145.9, -10.4, CAL= 146.4, -12.4, ROT=   3.6,  12.4

2025-09-04T18:27:13.248Z,1757010433.248 [DAT](INFO): got valid direction response:
 18:27:11.3668 LVL= 22512, 26305, 26802, 28883, AGC= 67, IDX= 398, 0.00, 2.653, 1.045, 2.667, 1.878, PHS= 0.877,-0.788, 0.745, RAW= 145.9, -10.4, CAL= 146.4, -12.4, ROT=   3.6,  12.4

2025-09-04T18:27:13.249Z,1757010433.249 [DAT](INFO): DAT read: Bearing 305.4,   0.2 (Local)

2025-09-04T18:27:13.249Z,1757010433.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.4,   0.2 (Local)

2025-09-04T18:27:13.251Z,1757010433.251 [DAT](INFO): DAT read: Range 11 to 50 : 323.5 m  (Round-trip  431.4 ms) speed  0.3 m/s

2025-09-04T18:27:13.251Z,1757010433.251 [DAT](INFO): DAT read: user:2769>

2025-09-04T18:27:13.256Z,1757010433.256 [DAT](INFO): DAT read: Tx time:18:27:12.4813

2025-09-04T18:27:13.256Z,1757010433.256 [DAT](INFO): Ping request sent.
2025-09-04T18:27:13.257Z,1757010433.257 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:13.257Z,1757010433.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:13.258Z,1757010433.258 [DAT](INFO): direction in FSK: [0.974745,0.061326,-0.214735]
2025-09-04T18:27:13.258Z,1757010433.258 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:13.258Z,1757010433.258 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:13.266Z,1757010433.266 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:13.266Z,1757010433.266 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:13.358Z,1757010433.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.500000 m,
      deltaT: 4.029348 s,
      deltaX: -2.799988 m,
      approachRate: -0.694898 m/s,
      rangeRepo size: 4

2025-09-04T18:27:13.376Z,1757010433.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 322.127289 m,
      bearing: 164.523827 deg,
      lat: 36.779097 deg,
      lon: -121.859555 deg,
      deltaT: 4.029348 s,
      deltaX: -2.768738 m,
      approachRate: -0.687143 m/s,
      posRepo size: 4

2025-09-04T18:27:13.377Z,1757010433.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:13.380Z,1757010433.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 315.418457 m,
      bearing: 166.380306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003045 deg/s,
      cmd heading: 160.784989 deg,
      new cmd heading: 160.781802 deg.

2025-09-04T18:27:13.390Z,1757010433.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806172 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:13.755Z,1757010433.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:13.778Z,1757010433.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 315.123566 m,
      bearing: 166.378057 deg,
      approach rate: -0.741093 m/s,
      LOS rate: -0.005657 deg/s,
      cmd heading: 160.781806 deg,
      new cmd heading: 160.777304 deg.

2025-09-04T18:27:13.779Z,1757010433.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.806093 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:14.167Z,1757010434.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:14.174Z,1757010434.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:14.182Z,1757010434.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 314.842224 m,
      bearing: 166.375189 deg,
      approach rate: -0.672003 m/s,
      LOS rate: -0.006857 deg/s,
      cmd heading: 160.777298 deg,
      new cmd heading: 160.771557 deg.

2025-09-04T18:27:14.189Z,1757010434.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805993 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:14.249Z,1757010434.249 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:14.249Z,1757010434.249 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:14.249Z,1757010434.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:14.502Z,1757010434.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244956
2025-09-04T18:27:14.557Z,1757010434.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:14.560Z,1757010434.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 314.565063 m,
      bearing: 166.372350 deg,
      approach rate: -0.722853 m/s,
      LOS rate: -0.007410 deg/s,
      cmd heading: 160.771561 deg,
      new cmd heading: 160.765879 deg.

2025-09-04T18:27:14.561Z,1757010434.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805894 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:14.753Z,1757010434.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496447
2025-09-04T18:27:14.960Z,1757010434.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:14.963Z,1757010434.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 314.289124 m,
      bearing: 166.369548 deg,
      approach rate: -0.713848 m/s,
      LOS rate: -0.007254 deg/s,
      cmd heading: 160.765878 deg,
      new cmd heading: 160.760270 deg.

2025-09-04T18:27:14.964Z,1757010434.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805796 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:15.010Z,1757010435.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752189
2025-09-04T18:27:15.257Z,1757010435.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000509
2025-09-04T18:27:15.363Z,1757010435.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:15.366Z,1757010435.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 313.989868 m,
      bearing: 166.367105 deg,
      approach rate: -0.713405 m/s,
      LOS rate: -0.005829 deg/s,
      cmd heading: 160.760264 deg,
      new cmd heading: 160.755373 deg.

2025-09-04T18:27:15.367Z,1757010435.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805711 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:15.509Z,1757010435.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252490
2025-09-04T18:27:15.759Z,1757010435.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:15.761Z,1757010435.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504468
2025-09-04T18:27:15.763Z,1757010435.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 313.707977 m,
      bearing: 166.364818 deg,
      approach rate: -0.713299 m/s,
      LOS rate: -0.005794 deg/s,
      cmd heading: 160.755373 deg,
      new cmd heading: 160.750794 deg.

2025-09-04T18:27:15.764Z,1757010435.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805631 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:16.014Z,1757010436.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756966
2025-09-04T18:27:16.202Z,1757010436.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:16.209Z,1757010436.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:16.234Z,1757010436.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 313.396667 m,
      bearing: 166.361789 deg,
      approach rate: -0.694429 m/s,
      LOS rate: -0.006763 deg/s,
      cmd heading: 160.750797 deg,
      new cmd heading: 160.744733 deg.

2025-09-04T18:27:16.235Z,1757010436.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805525 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:16.265Z,1757010436.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008571
2025-09-04T18:27:16.518Z,1757010436.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261064
2025-09-04T18:27:16.623Z,1757010436.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:16.626Z,1757010436.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 313.103180 m,
      bearing: 166.358928 deg,
      approach rate: -0.704578 m/s,
      LOS rate: -0.006875 deg/s,
      cmd heading: 160.744732 deg,
      new cmd heading: 160.739005 deg.

2025-09-04T18:27:16.627Z,1757010436.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805425 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:16.769Z,1757010436.769 [DAT](INFO): DAT read: Rx Time:18:27:15.3133

2025-09-04T18:27:16.770Z,1757010436.770 [DAT](INFO): Rx dataTimestamp_ set to:1757010436.769486
2025-09-04T18:27:16.770Z,1757010436.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513690
2025-09-04T18:27:16.985Z,1757010436.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.13 m.
2025-09-04T18:27:16.988Z,1757010436.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.127289 m,
      nav range: 312.827881 m,
      bearing: 166.356304 deg,
      approach rate: -0.760558 m/s,
      LOS rate: -0.007255 deg/s,
      cmd heading: 160.739008 deg,
      new cmd heading: 160.733756 deg.

2025-09-04T18:27:16.989Z,1757010436.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805333 target range: 322.127289 and range: 323.50 m.
2025-09-04T18:27:17.022Z,1757010437.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764705
2025-09-04T18:27:17.279Z,1757010437.279 [DAT](INFO): DAT read: 18:27:15.3133 LVL= 21440, 27633, 26930, 31795, AGC= 65, IDX= 410, 0.25,-3.136, 1.616, 3.127, 2.473, PHS= 0.777,-0.812, 0.610, RAW= 144.5,  -7.7, CAL= 144.6,  -9.1, ROT=   5.4,   9.1

2025-09-04T18:27:17.280Z,1757010437.280 [DAT](INFO): got valid direction response:
 18:27:15.3133 LVL= 21440, 27633, 26930, 31795, AGC= 65, IDX= 410, 0.25,-3.136, 1.616, 3.127, 2.473, PHS= 0.777,-0.812, 0.610, RAW= 144.5,  -7.7, CAL= 144.6,  -9.1, ROT=   5.4,   9.1

2025-09-04T18:27:17.281Z,1757010437.281 [DAT](INFO): DAT read: Bearing 309.0,   1.8 (Local)

2025-09-04T18:27:17.282Z,1757010437.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.0,   1.8 (Local)

2025-09-04T18:27:17.283Z,1757010437.283 [DAT](INFO): DAT read: Range 11 to 50 : 320.9 m  (Round-trip  427.9 ms) speed  0.7 m/s

2025-09-04T18:27:17.295Z,1757010437.295 [DAT](INFO): DAT read: user:2770>

2025-09-04T18:27:17.296Z,1757010437.296 [DAT](INFO): DAT read: Tx time:18:27:16.4313

2025-09-04T18:27:17.296Z,1757010437.296 [DAT](INFO): Ping request sent.
2025-09-04T18:27:17.296Z,1757010437.296 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:17.296Z,1757010437.296 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:17.297Z,1757010437.297 [DAT](INFO): direction in FSK: [0.983032,0.092924,-0.158158]
2025-09-04T18:27:17.298Z,1757010437.298 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:17.298Z,1757010437.298 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:17.303Z,1757010437.303 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:17.303Z,1757010437.303 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:17.480Z,1757010437.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 320.899994 m,
      deltaT: 4.032248 s,
      deltaX: -2.600006 m,
      approachRate: -0.644803 m/s,
      rangeRepo size: 4

2025-09-04T18:27:17.487Z,1757010437.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 319.542786 m,
      bearing: 166.169541 deg,
      lat: 36.779109 deg,
      lon: -121.859548 deg,
      deltaT: 4.032248 s,
      deltaX: -2.584503 m,
      approachRate: -0.640958 m/s,
      posRepo size: 4

2025-09-04T18:27:17.489Z,1757010437.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:17.502Z,1757010437.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 311.271759 m,
      bearing: 166.169055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007255 deg/s,
      cmd heading: 160.733763 deg,
      new cmd heading: 160.726611 deg.

2025-09-04T18:27:17.503Z,1757010437.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805208 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:17.964Z,1757010437.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:27:17.978Z,1757010437.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:17.981Z,1757010437.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 310.910126 m,
      bearing: 166.165170 deg,
      approach rate: -0.723053 m/s,
      LOS rate: -0.007777 deg/s,
      cmd heading: 160.726605 deg,
      new cmd heading: 160.718825 deg.

2025-09-04T18:27:17.982Z,1757010437.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805073 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:18.442Z,1757010438.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:18.445Z,1757010438.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:18.448Z,1757010438.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 310.570282 m,
      bearing: 166.163480 deg,
      approach rate: -0.728503 m/s,
      LOS rate: -0.003627 deg/s,
      cmd heading: 160.718832 deg,
      new cmd heading: 160.715447 deg.

2025-09-04T18:27:18.449Z,1757010438.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.805014 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:18.533Z,1757010438.533 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:18.533Z,1757010438.533 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:18.533Z,1757010438.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:18.785Z,1757010438.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489015
2025-09-04T18:27:18.877Z,1757010438.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:18.879Z,1757010438.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 310.242493 m,
      bearing: 166.161839 deg,
      approach rate: -0.758909 m/s,
      LOS rate: -0.003802 deg/s,
      cmd heading: 160.715444 deg,
      new cmd heading: 160.712160 deg.

2025-09-04T18:27:18.881Z,1757010438.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804956 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:18.969Z,1757010438.969 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:27:19.037Z,1757010439.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741104
2025-09-04T18:27:19.289Z,1757010439.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993000
2025-09-04T18:27:19.308Z,1757010439.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:19.311Z,1757010439.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 309.933807 m,
      bearing: 166.159761 deg,
      approach rate: -0.716390 m/s,
      LOS rate: -0.004828 deg/s,
      cmd heading: 160.712166 deg,
      new cmd heading: 160.708005 deg.

2025-09-04T18:27:19.311Z,1757010439.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804884 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:19.541Z,1757010439.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245028
2025-09-04T18:27:19.711Z,1757010439.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:19.723Z,1757010439.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 309.659485 m,
      bearing: 166.157899 deg,
      approach rate: -0.679484 m/s,
      LOS rate: -0.004616 deg/s,
      cmd heading: 160.707999 deg,
      new cmd heading: 160.704272 deg.

2025-09-04T18:27:19.724Z,1757010439.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804819 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:19.794Z,1757010439.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497893
2025-09-04T18:27:20.045Z,1757010440.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748959
2025-09-04T18:27:20.099Z,1757010440.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:20.102Z,1757010440.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 309.362274 m,
      bearing: 166.155862 deg,
      approach rate: -0.767280 m/s,
      LOS rate: -0.005266 deg/s,
      cmd heading: 160.704270 deg,
      new cmd heading: 160.700191 deg.

2025-09-04T18:27:20.103Z,1757010440.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804747 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:20.297Z,1757010440.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000878
2025-09-04T18:27:20.537Z,1757010440.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:20.539Z,1757010440.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:20.546Z,1757010440.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 309.047150 m,
      bearing: 166.155431 deg,
      approach rate: -0.716246 m/s,
      LOS rate: -0.000980 deg/s,
      cmd heading: 160.700185 deg,
      new cmd heading: 160.699323 deg.

2025-09-04T18:27:20.547Z,1757010440.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804732 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:20.549Z,1757010440.549 [DAT](INFO): DAT read: Rx Time:18:27:19.2595

2025-09-04T18:27:20.550Z,1757010440.550 [DAT](INFO): Rx dataTimestamp_ set to:1757010440.549576
2025-09-04T18:27:20.550Z,1757010440.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254298
2025-09-04T18:27:20.802Z,1757010440.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505447
2025-09-04T18:27:20.895Z,1757010440.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.54 m.
2025-09-04T18:27:20.914Z,1757010440.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.542786 m,
      nav range: 308.772919 m,
      bearing: 166.155055 deg,
      approach rate: -0.770087 m/s,
      LOS rate: -0.001056 deg/s,
      cmd heading: 160.699325 deg,
      new cmd heading: 160.698572 deg.

2025-09-04T18:27:20.915Z,1757010440.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804719 target range: 319.542786 and range: 320.90 m.
2025-09-04T18:27:21.071Z,1757010441.071 [DAT](INFO): DAT read: 18:27:19.2595 LVL= 24288, 28497, 28258, 32755, AGC= 67, IDX= 403,-0.03,-1.291,-2.818,-1.266,-1.979, PHS= 0.790,-0.794, 0.669, RAW= 146.1,  -8.8, CAL= 146.3, -10.4, ROT=   3.7,  10.4

2025-09-04T18:27:21.086Z,1757010441.086 [DAT](INFO): got valid direction response:
 18:27:19.2595 LVL= 24288, 28497, 28258, 32755, AGC= 67, IDX= 403,-0.03,-1.291,-2.818,-1.266,-1.979, PHS= 0.790,-0.794, 0.669, RAW= 146.1,  -8.8, CAL= 146.3, -10.4, ROT=   3.7,  10.4

2025-09-04T18:27:21.087Z,1757010441.087 [DAT](INFO): DAT read: Bearing 307.9,   0.3 (Local)

2025-09-04T18:27:21.087Z,1757010441.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.9,   0.3 (Local)

2025-09-04T18:27:21.089Z,1757010441.089 [DAT](INFO): DAT read: Range 11 to 50 : 318.0 m  (Round-trip  424.1 ms) speed  0.4 m/s

2025-09-04T18:27:21.090Z,1757010441.090 [DAT](INFO): DAT read: user:2771>

2025-09-04T18:27:21.093Z,1757010441.093 [DAT](INFO): DAT read: Tx time:18:27:20.3812

2025-09-04T18:27:21.094Z,1757010441.094 [DAT](INFO): Ping request sent.
2025-09-04T18:27:21.094Z,1757010441.094 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:21.095Z,1757010441.095 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:21.097Z,1757010441.097 [DAT](INFO): direction in FSK: [0.981521,0.063472,-0.180519]
2025-09-04T18:27:21.097Z,1757010441.097 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:21.097Z,1757010441.097 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:21.116Z,1757010441.116 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:21.122Z,1757010441.122 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:21.339Z,1757010441.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.000000 m,
      deltaT: 3.783504 s,
      deltaX: -2.899994 m,
      approachRate: -0.766484 m/s,
      rangeRepo size: 4

2025-09-04T18:27:21.373Z,1757010441.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 316.653839 m,
      bearing: 164.402601 deg,
      lat: 36.779109 deg,
      lon: -121.859548 deg,
      deltaT: 3.783504 s,
      deltaX: -2.888947 m,
      approachRate: -0.763564 m/s,
      posRepo size: 4

2025-09-04T18:27:21.374Z,1757010441.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:21.385Z,1757010441.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 308.455750 m,
      bearing: 166.153941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001056 deg/s,
      cmd heading: 160.698573 deg,
      new cmd heading: 160.697637 deg.

2025-09-04T18:27:21.386Z,1757010441.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804703 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:21.732Z,1757010441.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:21.735Z,1757010441.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 308.179962 m,
      bearing: 166.152931 deg,
      approach rate: -0.729037 m/s,
      LOS rate: -0.002671 deg/s,
      cmd heading: 160.697631 deg,
      new cmd heading: 160.695610 deg.

2025-09-04T18:27:21.740Z,1757010441.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804667 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:22.133Z,1757010442.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:22.141Z,1757010442.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 307.881226 m,
      bearing: 166.151836 deg,
      approach rate: -0.716008 m/s,
      LOS rate: -0.002629 deg/s,
      cmd heading: 160.695609 deg,
      new cmd heading: 160.693416 deg.

2025-09-04T18:27:22.145Z,1757010442.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804629 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:22.539Z,1757010442.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:22.541Z,1757010442.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:22.544Z,1757010442.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 307.582581 m,
      bearing: 166.151134 deg,
      approach rate: -0.732780 m/s,
      LOS rate: -0.001723 deg/s,
      cmd heading: 160.693410 deg,
      new cmd heading: 160.692005 deg.

2025-09-04T18:27:22.561Z,1757010442.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804605 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:22.565Z,1757010442.565 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:22.565Z,1757010442.565 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:22.565Z,1757010442.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:22.818Z,1757010442.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723475
2025-09-04T18:27:22.949Z,1757010442.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:22.951Z,1757010442.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 307.285736 m,
      bearing: 166.150455 deg,
      approach rate: -0.727862 m/s,
      LOS rate: -0.001667 deg/s,
      cmd heading: 160.692003 deg,
      new cmd heading: 160.690643 deg.

2025-09-04T18:27:22.953Z,1757010442.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804581 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:23.069Z,1757010443.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974974
2025-09-04T18:27:23.321Z,1757010443.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227225
2025-09-04T18:27:23.432Z,1757010443.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:23.434Z,1757010443.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 306.946808 m,
      bearing: 166.149680 deg,
      approach rate: -0.701933 m/s,
      LOS rate: -0.001607 deg/s,
      cmd heading: 160.690637 deg,
      new cmd heading: 160.689085 deg.

2025-09-04T18:27:23.435Z,1757010443.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804554 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:23.573Z,1757010443.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479093
2025-09-04T18:27:23.825Z,1757010443.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731126
2025-09-04T18:27:23.874Z,1757010443.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:23.877Z,1757010443.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 306.612549 m,
      bearing: 166.148911 deg,
      approach rate: -0.755461 m/s,
      LOS rate: -0.001741 deg/s,
      cmd heading: 160.689079 deg,
      new cmd heading: 160.687539 deg.

2025-09-04T18:27:23.878Z,1757010443.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804527 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:24.077Z,1757010444.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983086
2025-09-04T18:27:24.294Z,1757010444.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:24.297Z,1757010444.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 306.305969 m,
      bearing: 166.147784 deg,
      approach rate: -0.729548 m/s,
      LOS rate: -0.002683 deg/s,
      cmd heading: 160.687536 deg,
      new cmd heading: 160.685281 deg.

2025-09-04T18:27:24.298Z,1757010444.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804487 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:24.329Z,1757010444.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235379
2025-09-04T18:27:24.581Z,1757010444.581 [DAT](INFO): DAT read: Rx Time:18:27:23.2061

2025-09-04T18:27:24.582Z,1757010444.582 [DAT](INFO): Rx dataTimestamp_ set to:1757010444.581312
2025-09-04T18:27:24.582Z,1757010444.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488233
2025-09-04T18:27:24.670Z,1757010444.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:24.676Z,1757010444.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:24.683Z,1757010444.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 306.035522 m,
      bearing: 166.146793 deg,
      approach rate: -0.709583 m/s,
      LOS rate: -0.002602 deg/s,
      cmd heading: 160.685282 deg,
      new cmd heading: 160.683299 deg.

2025-09-04T18:27:24.688Z,1757010444.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804453 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:24.833Z,1757010444.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738963
2025-09-04T18:27:25.091Z,1757010445.091 [DAT](INFO): DAT read: 18:27:23.2061 LVL= 22992, 31601, 25378, 32755, AGC= 69, IDX= 403, 0.34,-1.849, 3.041,-1.959,-2.454, PHS= 0.707,-0.743, 0.452, RAW= 140.5,  -6.3, CAL= 140.6,  -7.3, ROT=   9.4,   7.3

2025-09-04T18:27:25.093Z,1757010445.093 [DAT](INFO): got valid direction response:
 18:27:23.2061 LVL= 22992, 31601, 25378, 32755, AGC= 69, IDX= 403, 0.34,-1.849, 3.041,-1.959,-2.454, PHS= 0.707,-0.743, 0.452, RAW= 140.5,  -6.3, CAL= 140.6,  -7.3, ROT=   9.4,   7.3

2025-09-04T18:27:25.093Z,1757010445.093 [DAT](INFO): DAT read: Bearing 311.5,   6.2 (Local)

2025-09-04T18:27:25.094Z,1757010445.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,   6.2 (Local)

2025-09-04T18:27:25.095Z,1757010445.095 [DAT](INFO): DAT read: Range 11 to 50 : 315.6 m  (Round-trip  420.8 ms) speed  0.4 m/s

2025-09-04T18:27:25.096Z,1757010445.096 [DAT](INFO): DAT read: user:2772>

2025-09-04T18:27:25.097Z,1757010445.097 [DAT](INFO): DAT read: Tx time:18:27:24.3312

2025-09-04T18:27:25.097Z,1757010445.097 [DAT](INFO): Ping request sent.
2025-09-04T18:27:25.097Z,1757010445.097 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:25.097Z,1757010445.097 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:25.098Z,1757010445.098 [DAT](INFO): direction in FSK: [0.978575,0.162002,-0.127065]
2025-09-04T18:27:25.099Z,1757010445.099 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:25.099Z,1757010445.099 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:25.100Z,1757010445.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 316.65 m.
2025-09-04T18:27:25.103Z,1757010445.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 316.653839 m,
      nav range: 305.730591 m,
      bearing: 166.145674 deg,
      approach rate: -0.746361 m/s,
      LOS rate: -0.002743 deg/s,
      cmd heading: 160.683301 deg,
      new cmd heading: 160.681060 deg.

2025-09-04T18:27:25.106Z,1757010445.106 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:25.107Z,1757010445.107 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:25.108Z,1757010445.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804414 target range: 316.653839 and range: 318.00 m.
2025-09-04T18:27:25.593Z,1757010445.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.600006 m,
      deltaT: 4.028302 s,
      deltaX: -2.399994 m,
      approachRate: -0.595783 m/s,
      rangeRepo size: 4

2025-09-04T18:27:25.595Z,1757010445.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 314.241058 m,
      bearing: 170.331610 deg,
      lat: 36.779109 deg,
      lon: -121.859548 deg,
      deltaT: 4.028302 s,
      deltaX: -2.412781 m,
      approachRate: -0.598957 m/s,
      posRepo size: 4

2025-09-04T18:27:25.602Z,1757010445.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:25.609Z,1757010445.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 305.388733 m,
      bearing: 166.143025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002743 deg/s,
      cmd heading: 160.681061 deg,
      new cmd heading: 160.678270 deg.

2025-09-04T18:27:25.610Z,1757010445.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804365 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:25.943Z,1757010445.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:25.950Z,1757010445.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 305.110626 m,
      bearing: 166.140873 deg,
      approach rate: -0.793199 m/s,
      LOS rate: -0.006143 deg/s,
      cmd heading: 160.678274 deg,
      new cmd heading: 160.673966 deg.

2025-09-04T18:27:25.951Z,1757010445.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804290 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:26.373Z,1757010446.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:26.375Z,1757010446.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 304.802368 m,
      bearing: 166.138748 deg,
      approach rate: -0.717749 m/s,
      LOS rate: -0.004952 deg/s,
      cmd heading: 160.673971 deg,
      new cmd heading: 160.669718 deg.

2025-09-04T18:27:26.377Z,1757010446.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804216 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:26.736Z,1757010446.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:26.739Z,1757010446.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:26.741Z,1757010446.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 304.541382 m,
      bearing: 166.136924 deg,
      approach rate: -0.713662 m/s,
      LOS rate: -0.004992 deg/s,
      cmd heading: 160.669723 deg,
      new cmd heading: 160.666072 deg.

2025-09-04T18:27:26.742Z,1757010446.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804152 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:26.854Z,1757010446.854 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:26.854Z,1757010446.854 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:26.854Z,1757010446.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:27.105Z,1757010447.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007943
2025-09-04T18:27:27.163Z,1757010447.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:27.169Z,1757010447.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 304.244598 m,
      bearing: 166.134856 deg,
      approach rate: -0.698761 m/s,
      LOS rate: -0.004874 deg/s,
      cmd heading: 160.666075 deg,
      new cmd heading: 160.661935 deg.

2025-09-04T18:27:27.170Z,1757010447.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.804080 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:27.357Z,1757010447.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260255
2025-09-04T18:27:27.574Z,1757010447.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:27.577Z,1757010447.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 303.942932 m,
      bearing: 166.132271 deg,
      approach rate: -0.734415 m/s,
      LOS rate: -0.006300 deg/s,
      cmd heading: 160.661936 deg,
      new cmd heading: 160.656761 deg.

2025-09-04T18:27:27.578Z,1757010447.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803989 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:27.610Z,1757010447.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512584
2025-09-04T18:27:27.861Z,1757010447.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763827
2025-09-04T18:27:27.958Z,1757010447.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:27.963Z,1757010447.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 303.667603 m,
      bearing: 166.129937 deg,
      approach rate: -0.716206 m/s,
      LOS rate: -0.006077 deg/s,
      cmd heading: 160.656759 deg,
      new cmd heading: 160.652087 deg.

2025-09-04T18:27:27.964Z,1757010447.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803908 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:28.113Z,1757010448.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015710
2025-09-04T18:27:28.365Z,1757010448.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267918
2025-09-04T18:27:28.386Z,1757010448.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:28.389Z,1757010448.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 303.364807 m,
      bearing: 166.126794 deg,
      approach rate: -0.708323 m/s,
      LOS rate: -0.007359 deg/s,
      cmd heading: 160.652087 deg,
      new cmd heading: 160.645795 deg.

2025-09-04T18:27:28.390Z,1757010448.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803798 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:28.618Z,1757010448.618 [DAT](INFO): DAT read: Rx Time:18:27:27.1529

2025-09-04T18:27:28.619Z,1757010448.619 [DAT](INFO): Rx dataTimestamp_ set to:1757010448.618508
2025-09-04T18:27:28.622Z,1757010448.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523661
2025-09-04T18:27:28.758Z,1757010448.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:28.760Z,1757010448.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 314.24 m.
2025-09-04T18:27:28.763Z,1757010448.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 314.241058 m,
      nav range: 303.091034 m,
      bearing: 166.123958 deg,
      approach rate: -0.731916 m/s,
      LOS rate: -0.007590 deg/s,
      cmd heading: 160.645790 deg,
      new cmd heading: 160.640112 deg.

2025-09-04T18:27:28.765Z,1757010448.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803699 target range: 314.241058 and range: 315.60 m.
2025-09-04T18:27:28.870Z,1757010448.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772348
2025-09-04T18:27:29.127Z,1757010449.127 [DAT](INFO): DAT read: 18:27:27.1529 LVL= 26672, 25009, 31138, 28387, AGC= 67, IDX= 415, 0.47, 1.150,-0.396, 1.175, 0.427, PHS= 0.825,-0.779, 0.703, RAW= 146.1,  -9.7, CAL= 146.5, -11.5, ROT=   3.5,  11.5

2025-09-04T18:27:29.132Z,1757010449.132 [DAT](INFO): got valid direction response:
 18:27:27.1529 LVL= 26672, 25009, 31138, 28387, AGC= 67, IDX= 415, 0.47, 1.150,-0.396, 1.175, 0.427, PHS= 0.825,-0.779, 0.703, RAW= 146.1,  -9.7, CAL= 146.5, -11.5, ROT=   3.5,  11.5

2025-09-04T18:27:29.133Z,1757010449.133 [DAT](INFO): DAT read: Bearing 307.3,   1.0 (Local)

2025-09-04T18:27:29.133Z,1757010449.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.3,   1.0 (Local)

2025-09-04T18:27:29.135Z,1757010449.135 [DAT](INFO): DAT read: Range 11 to 50 : 313.1 m  (Round-trip  417.5 ms) speed  0.4 m/s

2025-09-04T18:27:29.135Z,1757010449.135 [DAT](INFO): DAT read: user:2773>

2025-09-04T18:27:29.136Z,1757010449.136 [DAT](INFO): DAT read: Tx time:18:27:28.2812

2025-09-04T18:27:29.137Z,1757010449.137 [DAT](INFO): Ping request sent.
2025-09-04T18:27:29.137Z,1757010449.137 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:29.137Z,1757010449.137 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:29.138Z,1757010449.138 [DAT](INFO): direction in FSK: [0.978097,0.059823,-0.199368]
2025-09-04T18:27:29.138Z,1757010449.138 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:29.139Z,1757010449.139 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:29.142Z,1757010449.142 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:29.142Z,1757010449.142 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:29.311Z,1757010449.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.100006 m,
      deltaT: 4.035887 s,
      deltaX: -2.500000 m,
      approachRate: -0.619443 m/s,
      rangeRepo size: 4

2025-09-04T18:27:29.322Z,1757010449.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 311.750031 m,
      bearing: 164.180645 deg,
      lat: 36.779140 deg,
      lon: -121.859463 deg,
      deltaT: 4.035887 s,
      deltaX: -2.491028 m,
      approachRate: -0.617219 m/s,
      posRepo size: 4

2025-09-04T18:27:29.322Z,1757010449.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:29.337Z,1757010449.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 301.389984 m,
      bearing: 164.568433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007590 deg/s,
      cmd heading: 160.640107 deg,
      new cmd heading: 160.631755 deg.

2025-09-04T18:27:29.338Z,1757010449.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803553 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:29.643Z,1757010449.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:29.657Z,1757010449.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 301.090393 m,
      bearing: 164.564444 deg,
      approach rate: -0.900265 m/s,
      LOS rate: -0.011999 deg/s,
      cmd heading: 160.631761 deg,
      new cmd heading: 160.623775 deg.

2025-09-04T18:27:29.659Z,1757010449.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803414 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:29.989Z,1757010449.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:29.992Z,1757010449.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 300.845001 m,
      bearing: 164.561187 deg,
      approach rate: -0.709123 m/s,
      LOS rate: -0.009421 deg/s,
      cmd heading: 160.623769 deg,
      new cmd heading: 160.617249 deg.

2025-09-04T18:27:29.993Z,1757010449.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803300 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:30.426Z,1757010450.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:30.433Z,1757010450.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 300.527802 m,
      bearing: 164.558103 deg,
      approach rate: -0.726110 m/s,
      LOS rate: -0.007067 deg/s,
      cmd heading: 160.617253 deg,
      new cmd heading: 160.611079 deg.

2025-09-04T18:27:30.434Z,1757010450.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803192 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:30.783Z,1757010450.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:30.786Z,1757010450.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:30.789Z,1757010450.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 300.265045 m,
      bearing: 164.555562 deg,
      approach rate: -0.730370 m/s,
      LOS rate: -0.007067 deg/s,
      cmd heading: 160.611079 deg,
      new cmd heading: 160.605994 deg.

2025-09-04T18:27:30.789Z,1757010450.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803103 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:30.885Z,1757010450.885 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:30.885Z,1757010450.885 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:30.885Z,1757010450.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:31.137Z,1757010451.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000127
2025-09-04T18:27:31.214Z,1757010451.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:31.217Z,1757010451.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 299.968994 m,
      bearing: 164.552729 deg,
      approach rate: -0.691027 m/s,
      LOS rate: -0.006619 deg/s,
      cmd heading: 160.605997 deg,
      new cmd heading: 160.600325 deg.

2025-09-04T18:27:31.218Z,1757010451.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.803005 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:31.390Z,1757010451.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253543
2025-09-04T18:27:31.616Z,1757010451.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:31.619Z,1757010451.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 299.665436 m,
      bearing: 164.549381 deg,
      approach rate: -0.755179 m/s,
      LOS rate: -0.008338 deg/s,
      cmd heading: 160.600328 deg,
      new cmd heading: 160.593625 deg.

2025-09-04T18:27:31.620Z,1757010451.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802887 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:31.641Z,1757010451.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504315
2025-09-04T18:27:31.893Z,1757010451.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756434
2025-09-04T18:27:31.991Z,1757010451.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:31.994Z,1757010451.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 299.393555 m,
      bearing: 164.546376 deg,
      approach rate: -0.725256 m/s,
      LOS rate: -0.008023 deg/s,
      cmd heading: 160.593621 deg,
      new cmd heading: 160.587605 deg.

2025-09-04T18:27:31.996Z,1757010451.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802783 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:32.147Z,1757010452.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009923
2025-09-04T18:27:32.397Z,1757010452.397 [DAT](INFO): DAT read: Rx Time:18:27:31.0987

2025-09-04T18:27:32.398Z,1757010452.398 [DAT](INFO): Rx dataTimestamp_ set to:1757010452.397251
2025-09-04T18:27:32.398Z,1757010452.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261235
2025-09-04T18:27:32.423Z,1757010452.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:32.426Z,1757010452.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 299.078979 m,
      bearing: 164.543129 deg,
      approach rate: -0.727974 m/s,
      LOS rate: -0.007520 deg/s,
      cmd heading: 160.587610 deg,
      new cmd heading: 160.581111 deg.

2025-09-04T18:27:32.427Z,1757010452.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802669 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:32.651Z,1757010452.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513670
2025-09-04T18:27:32.794Z,1757010452.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:32.797Z,1757010452.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.75 m.
2025-09-04T18:27:32.799Z,1757010452.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.750031 m,
      nav range: 298.802155 m,
      bearing: 164.540289 deg,
      approach rate: -0.740863 m/s,
      LOS rate: -0.007608 deg/s,
      cmd heading: 160.581108 deg,
      new cmd heading: 160.575422 deg.

2025-09-04T18:27:32.800Z,1757010452.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802570 target range: 311.750031 and range: 313.10 m.
2025-09-04T18:27:32.920Z,1757010452.920 [DAT](INFO): DAT read: 18:27:31.0987 LVL= 21744, 32753, 22082, 32755, AGC= 70, IDX= 407, 0.31, 1.249,-0.090, 1.093, 0.628, PHS= 0.722,-0.674, 0.421, RAW= 138.2,  -7.4, CAL= 138.3,  -8.5, ROT=  11.7,   8.5

2025-09-04T18:27:32.922Z,1757010452.922 [DAT](INFO): got valid direction response:
 18:27:31.0987 LVL= 21744, 32753, 22082, 32755, AGC= 70, IDX= 407, 0.31, 1.249,-0.090, 1.093, 0.628, PHS= 0.722,-0.674, 0.421, RAW= 138.2,  -7.4, CAL= 138.3,  -8.5, ROT=  11.7,   8.5

2025-09-04T18:27:32.923Z,1757010452.923 [DAT](INFO): DAT read: Bearing 310.7,   9.5 (Local)

2025-09-04T18:27:32.923Z,1757010452.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   9.5 (Local)

2025-09-04T18:27:32.925Z,1757010452.925 [DAT](INFO): DAT read: Range 11 to 50 : 309.9 m  (Round-trip  413.3 ms) speed  0.7 m/s

2025-09-04T18:27:32.927Z,1757010452.927 [DAT](INFO): DAT read: user:2774>

2025-09-04T18:27:32.929Z,1757010452.929 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:32.931Z,1757010452.931 [DAT](INFO): direction in FSK: [0.968467,0.200560,-0.147809]
2025-09-04T18:27:32.931Z,1757010452.931 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:32.934Z,1757010452.934 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:32.935Z,1757010452.935 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:32.935Z,1757010452.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:33.154Z,1757010453.154 [DAT](INFO): DAT read: Tx time:18:27:32.2312

2025-09-04T18:27:33.155Z,1757010453.155 [DAT](INFO): Ping request sent.
2025-09-04T18:27:33.155Z,1757010453.155 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:33.155Z,1757010453.155 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:33.156Z,1757010453.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001609
2025-09-04T18:27:33.274Z,1757010453.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.899994 m,
      deltaT: 3.782085 s,
      deltaX: -3.200012 m,
      approachRate: -0.846097 m/s,
      rangeRepo size: 4

2025-09-04T18:27:33.286Z,1757010453.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.564301 m,
      bearing: 172.363765 deg,
      lat: 36.779109 deg,
      lon: -121.859548 deg,
      deltaT: 3.782085 s,
      deltaX: -3.185730 m,
      approachRate: -0.842321 m/s,
      posRepo size: 4

2025-09-04T18:27:33.313Z,1757010453.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:33.340Z,1757010453.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 299.848969 m,
      bearing: 166.104304 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007608 deg/s,
      cmd heading: 160.575425 deg,
      new cmd heading: 160.568320 deg.

2025-09-04T18:27:33.354Z,1757010453.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802446 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:33.406Z,1757010453.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250987
2025-09-04T18:27:33.658Z,1757010453.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503676
2025-09-04T18:27:33.722Z,1757010453.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:33.725Z,1757010453.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 299.491516 m,
      bearing: 166.103019 deg,
      approach rate: -0.780341 m/s,
      LOS rate: -0.002810 deg/s,
      cmd heading: 160.568322 deg,
      new cmd heading: 160.565748 deg.

2025-09-04T18:27:33.726Z,1757010453.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802401 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:33.913Z,1757010453.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758593
2025-09-04T18:27:34.093Z,1757010454.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:34.096Z,1757010454.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 299.217773 m,
      bearing: 166.102054 deg,
      approach rate: -0.737304 m/s,
      LOS rate: -0.002601 deg/s,
      cmd heading: 160.565754 deg,
      new cmd heading: 160.563822 deg.

2025-09-04T18:27:34.097Z,1757010454.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802367 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:34.167Z,1757010454.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011619
2025-09-04T18:27:34.417Z,1757010454.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262393
2025-09-04T18:27:34.621Z,1757010454.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:34.624Z,1757010454.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 298.851166 m,
      bearing: 166.100951 deg,
      approach rate: -0.694297 m/s,
      LOS rate: -0.002091 deg/s,
      cmd heading: 160.563827 deg,
      new cmd heading: 160.561619 deg.

2025-09-04T18:27:34.638Z,1757010454.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802329 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:34.670Z,1757010454.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515377
2025-09-04T18:27:34.922Z,1757010454.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766835
2025-09-04T18:27:35.018Z,1757010455.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:35.031Z,1757010455.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:35.042Z,1757010455.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 298.548431 m,
      bearing: 166.100037 deg,
      approach rate: -0.758391 m/s,
      LOS rate: -0.002292 deg/s,
      cmd heading: 160.561614 deg,
      new cmd heading: 160.559785 deg.

2025-09-04T18:27:35.043Z,1757010455.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802297 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:35.173Z,1757010455.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018435
2025-09-04T18:27:35.425Z,1757010455.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270292
2025-09-04T18:27:35.471Z,1757010455.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:35.480Z,1757010455.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 298.221344 m,
      bearing: 166.099550 deg,
      approach rate: -0.725730 m/s,
      LOS rate: -0.001083 deg/s,
      cmd heading: 160.559784 deg,
      new cmd heading: 160.558807 deg.

2025-09-04T18:27:35.485Z,1757010455.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802280 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:35.677Z,1757010455.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522276
2025-09-04T18:27:35.788Z,1757010455.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:35.791Z,1757010455.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 297.963226 m,
      bearing: 166.099151 deg,
      approach rate: -0.814277 m/s,
      LOS rate: -0.001259 deg/s,
      cmd heading: 160.558814 deg,
      new cmd heading: 160.558016 deg.

2025-09-04T18:27:35.792Z,1757010455.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802266 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:35.929Z,1757010455.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774323
2025-09-04T18:27:36.181Z,1757010456.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026280
2025-09-04T18:27:36.194Z,1757010456.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:36.197Z,1757010456.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 297.659973 m,
      bearing: 166.098669 deg,
      approach rate: -0.746699 m/s,
      LOS rate: -0.001187 deg/s,
      cmd heading: 160.558022 deg,
      new cmd heading: 160.557057 deg.

2025-09-04T18:27:36.198Z,1757010456.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802249 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:36.433Z,1757010456.433 [DAT](INFO): DAT read: Rx Time:18:27:35.0457

2025-09-04T18:27:36.434Z,1757010456.434 [DAT](INFO): Rx dataTimestamp_ set to:1757010456.433624
2025-09-04T18:27:36.434Z,1757010456.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279670
2025-09-04T18:27:36.615Z,1757010456.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.56 m.
2025-09-04T18:27:36.618Z,1757010456.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.564301 m,
      nav range: 297.343597 m,
      bearing: 166.097858 deg,
      approach rate: -0.751269 m/s,
      LOS rate: -0.001929 deg/s,
      cmd heading: 160.557052 deg,
      new cmd heading: 160.555428 deg.

2025-09-04T18:27:36.619Z,1757010456.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802221 target range: 308.564301 and range: 309.90 m.
2025-09-04T18:27:36.686Z,1757010456.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531117
2025-09-04T18:27:36.943Z,1757010456.943 [DAT](INFO): DAT read: 18:27:35.0457 LVL= 25728, 32753, 32674, 32755, AGC= 66, IDX= 406,-0.47,-2.874, 1.837,-2.813, 2.697, PHS= 0.815,-0.815, 0.729, RAW= 147.3,  -9.2, CAL= 147.7, -11.0, ROT=   2.3,  11.0

2025-09-04T18:27:36.944Z,1757010456.944 [DAT](INFO): got valid direction response:
 18:27:35.0457 LVL= 25728, 32753, 32674, 32755, AGC= 66, IDX= 406,-0.47,-2.874, 1.837,-2.813, 2.697, PHS= 0.815,-0.815, 0.729, RAW= 147.3,  -9.2, CAL= 147.7, -11.0, ROT=   2.3,  11.0

2025-09-04T18:27:36.945Z,1757010456.945 [DAT](INFO): DAT read: Bearing 308.2,   0.5 (Local)

2025-09-04T18:27:36.945Z,1757010456.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.2,   0.5 (Local)

2025-09-04T18:27:36.947Z,1757010456.947 [DAT](INFO): DAT read: Range 11 to 50 : 307.7 m  (Round-trip  410.3 ms) speed  0.4 m/s

2025-09-04T18:27:36.947Z,1757010456.947 [DAT](INFO): DAT read: user:2775>

2025-09-04T18:27:36.964Z,1757010456.964 [DAT](INFO): DAT read: Tx time:18:27:36.1812

2025-09-04T18:27:36.965Z,1757010456.965 [DAT](INFO): Ping request sent.
2025-09-04T18:27:36.965Z,1757010456.965 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:36.965Z,1757010456.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:36.966Z,1757010456.966 [DAT](INFO): direction in FSK: [0.980836,0.039394,-0.190809]
2025-09-04T18:27:36.966Z,1757010456.966 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:36.967Z,1757010456.967 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:36.978Z,1757010456.978 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:36.978Z,1757010456.978 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:37.082Z,1757010457.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.700012 m,
      deltaT: 4.033952 s,
      deltaX: -2.199982 m,
      approachRate: -0.545366 m/s,
      rangeRepo size: 4

2025-09-04T18:27:37.088Z,1757010457.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.380890 m,
      bearing: 162.888650 deg,
      lat: 36.779139 deg,
      lon: -121.859450 deg,
      deltaT: 4.033952 s,
      deltaX: -2.183411 m,
      approachRate: -0.541258 m/s,
      posRepo size: 4

2025-09-04T18:27:37.089Z,1757010457.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:37.092Z,1757010457.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 296.065399 m,
      bearing: 164.307628 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001929 deg/s,
      cmd heading: 160.555426 deg,
      new cmd heading: 160.553629 deg.

2025-09-04T18:27:37.097Z,1757010457.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802189 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:37.556Z,1757010457.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:37.562Z,1757010457.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:37.569Z,1757010457.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 295.705902 m,
      bearing: 164.303485 deg,
      approach rate: -0.747676 m/s,
      LOS rate: -0.008628 deg/s,
      cmd heading: 160.553623 deg,
      new cmd heading: 160.545326 deg.

2025-09-04T18:27:37.570Z,1757010457.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.802045 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:37.693Z,1757010457.693 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:37.693Z,1757010457.693 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:37.693Z,1757010457.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:37.915Z,1757010457.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:37.918Z,1757010457.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 295.435211 m,
      bearing: 164.300375 deg,
      approach rate: -0.766708 m/s,
      LOS rate: -0.008818 deg/s,
      cmd heading: 160.545331 deg,
      new cmd heading: 160.539105 deg.

2025-09-04T18:27:37.919Z,1757010457.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801936 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:37.945Z,1757010457.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980156
2025-09-04T18:27:38.198Z,1757010458.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232566
2025-09-04T18:27:38.313Z,1757010458.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:38.336Z,1757010458.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 295.141357 m,
      bearing: 164.296996 deg,
      approach rate: -0.737974 m/s,
      LOS rate: -0.008493 deg/s,
      cmd heading: 160.539102 deg,
      new cmd heading: 160.532339 deg.

2025-09-04T18:27:38.339Z,1757010458.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801818 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:38.449Z,1757010458.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484196
2025-09-04T18:27:38.702Z,1757010458.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736712
2025-09-04T18:27:38.749Z,1757010458.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:38.752Z,1757010458.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 294.823517 m,
      bearing: 164.292998 deg,
      approach rate: -0.729616 m/s,
      LOS rate: -0.009188 deg/s,
      cmd heading: 160.532340 deg,
      new cmd heading: 160.524335 deg.

2025-09-04T18:27:38.753Z,1757010458.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801678 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:38.953Z,1757010458.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988057
2025-09-04T18:27:39.123Z,1757010459.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:39.148Z,1757010459.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 294.549500 m,
      bearing: 164.289574 deg,
      approach rate: -0.732814 m/s,
      LOS rate: -0.009166 deg/s,
      cmd heading: 160.524335 deg,
      new cmd heading: 160.517480 deg.

2025-09-04T18:27:39.150Z,1757010459.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801558 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:39.206Z,1757010459.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240544
2025-09-04T18:27:39.457Z,1757010459.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492172
2025-09-04T18:27:39.553Z,1757010459.553 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +2   +2925.12,       +28.31,  12.55,  0.00
2025-09-04T18:27:39.590Z,1757010459.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:39.593Z,1757010459.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:39.596Z,1757010459.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 294.223969 m,
      bearing: 164.285512 deg,
      approach rate: -0.693022 m/s,
      LOS rate: -0.008658 deg/s,
      cmd heading: 160.517478 deg,
      new cmd heading: 160.509344 deg.

2025-09-04T18:27:39.597Z,1757010459.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801417 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:39.709Z,1757010459.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744283
2025-09-04T18:27:39.935Z,1757010459.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:39.938Z,1757010459.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 293.957153 m,
      bearing: 164.282175 deg,
      approach rate: -0.779844 m/s,
      LOS rate: -0.009760 deg/s,
      cmd heading: 160.509350 deg,
      new cmd heading: 160.502671 deg.

2025-09-04T18:27:39.939Z,1757010459.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801300 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:39.961Z,1757010459.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996122
2025-09-04T18:27:40.213Z,1757010460.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248053
2025-09-04T18:27:40.358Z,1757010460.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:40.361Z,1757010460.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 293.646271 m,
      bearing: 164.278281 deg,
      approach rate: -0.734376 m/s,
      LOS rate: -0.009210 deg/s,
      cmd heading: 160.502670 deg,
      new cmd heading: 160.494872 deg.

2025-09-04T18:27:40.362Z,1757010460.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.801164 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:40.470Z,1757010460.470 [DAT](INFO): DAT read: Rx Time:18:27:38.9929

2025-09-04T18:27:40.471Z,1757010460.471 [DAT](INFO): Rx dataTimestamp_ set to:1757010460.470587
2025-09-04T18:27:40.473Z,1757010460.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508209
2025-09-04T18:27:40.717Z,1757010460.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752145
2025-09-04T18:27:40.835Z,1757010460.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.38 m.
2025-09-04T18:27:40.841Z,1757010460.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.380890 m,
      nav range: 293.310272 m,
      bearing: 164.272479 deg,
      approach rate: -0.705168 m/s,
      LOS rate: -0.012189 deg/s,
      cmd heading: 160.494870 deg,
      new cmd heading: 160.483254 deg.

2025-09-04T18:27:40.842Z,1757010460.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800961 target range: 306.380890 and range: 307.70 m.
2025-09-04T18:27:40.976Z,1757010460.976 [DAT](INFO): DAT read: 18:27:38.9929 LVL= 25712, 32753, 26610, 30419, AGC= 70, IDX= 410,-0.04,-1.307,-2.952,-1.162,-2.177, PHS= 0.972,-0.730, 0.971, RAW= 150.0, -14.1, CAL= 151.4, -16.3, ROT= 358.6,  16.3

2025-09-04T18:27:40.984Z,1757010460.984 [DAT](INFO): got valid direction response:
 18:27:38.9929 LVL= 25712, 32753, 26610, 30419, AGC= 70, IDX= 410,-0.04,-1.307,-2.952,-1.162,-2.177, PHS= 0.972,-0.730, 0.971, RAW= 150.0, -14.1, CAL= 151.4, -16.3, ROT= 358.6,  16.3

2025-09-04T18:27:40.985Z,1757010460.985 [DAT](INFO): DAT read: Bearing 302.9,  -2.7 (Local)

2025-09-04T18:27:40.985Z,1757010460.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.9,  -2.7 (Local)

2025-09-04T18:27:40.987Z,1757010460.987 [DAT](INFO): DAT read: Range 11 to 50 : 305.7 m  (Round-trip  407.6 ms) speed  0.7 m/s

2025-09-04T18:27:40.987Z,1757010460.987 [DAT](INFO): DAT read: user:2776>

2025-09-04T18:27:40.996Z,1757010460.996 [DAT](INFO): DAT read: Tx time:18:27:40.0812

2025-09-04T18:27:40.997Z,1757010460.997 [DAT](INFO): Ping request sent.
2025-09-04T18:27:40.997Z,1757010460.997 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:40.997Z,1757010460.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:40.998Z,1757010460.998 [DAT](INFO): direction in FSK: [0.959519,-0.023450,-0.280667]
2025-09-04T18:27:40.998Z,1757010460.998 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:40.999Z,1757010460.999 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:41.011Z,1757010461.011 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:41.011Z,1757010461.011 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:41.218Z,1757010461.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.700012 m,
      deltaT: 4.032784 s,
      deltaX: -2.000000 m,
      approachRate: -0.495935 m/s,
      rangeRepo size: 4

2025-09-04T18:27:41.225Z,1757010461.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.388489 m,
      bearing: 158.878178 deg,
      lat: 36.779139 deg,
      lon: -121.859439 deg,
      deltaT: 4.032784 s,
      deltaX: -1.992401 m,
      approachRate: -0.494051 m/s,
      posRepo size: 4

2025-09-04T18:27:41.225Z,1757010461.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:41.232Z,1757010461.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 293.308594 m,
      bearing: 164.083565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012189 deg/s,
      cmd heading: 160.483259 deg,
      new cmd heading: 160.473918 deg.

2025-09-04T18:27:41.233Z,1757010461.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800798 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:41.605Z,1757010461.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:41.607Z,1757010461.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:41.636Z,1757010461.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 293.013397 m,
      bearing: 164.077558 deg,
      approach rate: -0.758879 m/s,
      LOS rate: -0.015459 deg/s,
      cmd heading: 160.473915 deg,
      new cmd heading: 160.461888 deg.

2025-09-04T18:27:41.638Z,1757010461.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800588 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:41.726Z,1757010461.726 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:41.726Z,1757010461.726 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:41.727Z,1757010461.727 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:41.977Z,1757010461.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980247
2025-09-04T18:27:42.021Z,1757010462.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:42.023Z,1757010462.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 292.720337 m,
      bearing: 164.071578 deg,
      approach rate: -0.707597 m/s,
      LOS rate: -0.014452 deg/s,
      cmd heading: 160.461894 deg,
      new cmd heading: 160.449923 deg.

2025-09-04T18:27:42.045Z,1757010462.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800380 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:42.229Z,1757010462.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232159
2025-09-04T18:27:42.442Z,1757010462.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:42.473Z,1757010462.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 292.407562 m,
      bearing: 164.065219 deg,
      approach rate: -0.747173 m/s,
      LOS rate: -0.015207 deg/s,
      cmd heading: 160.449927 deg,
      new cmd heading: 160.437195 deg.

2025-09-04T18:27:42.485Z,1757010462.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487455
2025-09-04T18:27:42.487Z,1757010462.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.800157 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:42.733Z,1757010462.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736657
2025-09-04T18:27:42.985Z,1757010462.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988094
2025-09-04T18:27:43.003Z,1757010463.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:43.006Z,1757010463.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 292.002106 m,
      bearing: 164.057899 deg,
      approach rate: -0.719322 m/s,
      LOS rate: -0.013005 deg/s,
      cmd heading: 160.437196 deg,
      new cmd heading: 160.422535 deg.

2025-09-04T18:27:43.007Z,1757010463.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799901 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:43.237Z,1757010463.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240143
2025-09-04T18:27:43.379Z,1757010463.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:43.382Z,1757010463.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 291.729309 m,
      bearing: 164.052964 deg,
      approach rate: -0.725210 m/s,
      LOS rate: -0.013132 deg/s,
      cmd heading: 160.422538 deg,
      new cmd heading: 160.412659 deg.

2025-09-04T18:27:43.383Z,1757010463.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799729 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:43.494Z,1757010463.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496268
2025-09-04T18:27:43.741Z,1757010463.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744254
2025-09-04T18:27:43.781Z,1757010463.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:43.783Z,1757010463.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:43.806Z,1757010463.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 291.437225 m,
      bearing: 164.047940 deg,
      approach rate: -0.723556 m/s,
      LOS rate: -0.012458 deg/s,
      cmd heading: 160.412662 deg,
      new cmd heading: 160.402603 deg.

2025-09-04T18:27:43.807Z,1757010463.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799554 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:43.993Z,1757010463.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996494
2025-09-04T18:27:44.183Z,1757010464.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:44.186Z,1757010464.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 291.154327 m,
      bearing: 164.043088 deg,
      approach rate: -0.706644 m/s,
      LOS rate: -0.012132 deg/s,
      cmd heading: 160.402608 deg,
      new cmd heading: 160.392894 deg.

2025-09-04T18:27:44.187Z,1757010464.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799384 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:44.246Z,1757010464.246 [DAT](INFO): DAT read: Rx Time:18:27:42.8888

2025-09-04T18:27:44.246Z,1757010464.246 [DAT](INFO): Rx dataTimestamp_ set to:1757010464.245915
2025-09-04T18:27:44.247Z,1757010464.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249908
2025-09-04T18:27:44.503Z,1757010464.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505591
2025-09-04T18:27:44.603Z,1757010464.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.39 m.
2025-09-04T18:27:44.606Z,1757010464.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.388489 m,
      nav range: 290.840332 m,
      bearing: 164.038624 deg,
      approach rate: -0.747742 m/s,
      LOS rate: -0.010642 deg/s,
      cmd heading: 160.392895 deg,
      new cmd heading: 160.383957 deg.

2025-09-04T18:27:44.607Z,1757010464.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799228 target range: 304.388489 and range: 305.70 m.
2025-09-04T18:27:44.759Z,1757010464.759 [DAT](INFO): DAT read: 18:27:42.8888 LVL= 25008, 31153, 29154, 32755, AGC= 71, IDX= 400, 0.45, 2.893, 1.415, 2.875, 2.149, PHS= 0.846,-0.688, 0.682, RAW= 144.4, -11.5, CAL= 144.9, -13.6, ROT=   5.1,  13.6

2025-09-04T18:27:44.761Z,1757010464.761 [DAT](INFO): got valid direction response:
 18:27:42.8888 LVL= 25008, 31153, 29154, 32755, AGC= 71, IDX= 400, 0.45, 2.893, 1.415, 2.875, 2.149, PHS= 0.846,-0.688, 0.682, RAW= 144.4, -11.5, CAL= 144.9, -13.6, ROT=   5.1,  13.6

2025-09-04T18:27:44.762Z,1757010464.762 [DAT](INFO): DAT read: Bearing 305.6,   3.9 (Local)

2025-09-04T18:27:44.762Z,1757010464.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.6,   3.9 (Local)

2025-09-04T18:27:44.764Z,1757010464.764 [DAT](INFO): DAT read: Range 11 to 50 : 302.7 m  (Round-trip  403.6 ms) speed  0.5 m/s

2025-09-04T18:27:44.765Z,1757010464.765 [DAT](INFO): DAT read: user:2777>

2025-09-04T18:27:44.765Z,1757010464.765 [DAT](INFO): DAT read: Tx time:18:27:43.9811

2025-09-04T18:27:44.766Z,1757010464.766 [DAT](INFO): Ping request sent.
2025-09-04T18:27:44.766Z,1757010464.766 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:44.766Z,1757010464.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:44.767Z,1757010464.767 [DAT](INFO): direction in FSK: [0.968113,0.086402,-0.235142]
2025-09-04T18:27:44.767Z,1757010464.767 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:44.768Z,1757010464.768 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:44.771Z,1757010464.771 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:44.771Z,1757010464.771 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:45.002Z,1757010465.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.700012 m,
      deltaT: 3.783448 s,
      deltaX: -3.000000 m,
      approachRate: -0.792928 m/s,
      rangeRepo size: 4

2025-09-04T18:27:45.006Z,1757010465.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.406128 m,
      bearing: 165.410678 deg,
      lat: 36.779139 deg,
      lon: -121.859439 deg,
      deltaT: 3.783448 s,
      deltaX: -2.982361 m,
      approachRate: -0.788265 m/s,
      posRepo size: 4

2025-09-04T18:27:45.007Z,1757010465.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:45.010Z,1757010465.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 290.553131 m,
      bearing: 164.034532 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010642 deg/s,
      cmd heading: 160.383961 deg,
      new cmd heading: 160.375487 deg.

2025-09-04T18:27:45.011Z,1757010465.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.799080 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:45.390Z,1757010465.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:45.393Z,1757010465.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 290.266479 m,
      bearing: 164.030448 deg,
      approach rate: -0.737288 m/s,
      LOS rate: -0.010514 deg/s,
      cmd heading: 160.375492 deg,
      new cmd heading: 160.367317 deg.

2025-09-04T18:27:45.394Z,1757010465.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798938 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:45.846Z,1757010465.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:45.850Z,1757010465.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:45.853Z,1757010465.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 289.948456 m,
      bearing: 164.026146 deg,
      approach rate: -0.691387 m/s,
      LOS rate: -0.009364 deg/s,
      cmd heading: 160.367323 deg,
      new cmd heading: 160.358709 deg.

2025-09-04T18:27:45.854Z,1757010465.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798787 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:46.013Z,1757010466.013 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:46.013Z,1757010466.013 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:46.013Z,1757010466.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:46.180Z,1757010466.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:46.183Z,1757010466.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 289.692169 m,
      bearing: 164.022685 deg,
      approach rate: -0.776236 m/s,
      LOS rate: -0.010492 deg/s,
      cmd heading: 160.358703 deg,
      new cmd heading: 160.351775 deg.

2025-09-04T18:27:46.185Z,1757010466.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798666 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:46.266Z,1757010466.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499861
2025-09-04T18:27:46.520Z,1757010466.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753380
2025-09-04T18:27:46.655Z,1757010466.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:46.658Z,1757010466.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 289.348969 m,
      bearing: 164.019906 deg,
      approach rate: -0.723019 m/s,
      LOS rate: -0.005861 deg/s,
      cmd heading: 160.351777 deg,
      new cmd heading: 160.346214 deg.

2025-09-04T18:27:46.659Z,1757010466.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798569 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:46.769Z,1757010466.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003294
2025-09-04T18:27:47.021Z,1757010467.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255224
2025-09-04T18:27:47.033Z,1757010467.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:47.035Z,1757010467.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 289.078735 m,
      bearing: 164.017714 deg,
      approach rate: -0.715450 m/s,
      LOS rate: -0.005810 deg/s,
      cmd heading: 160.346218 deg,
      new cmd heading: 160.341828 deg.

2025-09-04T18:27:47.036Z,1757010467.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798493 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:47.275Z,1757010467.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508831
2025-09-04T18:27:47.421Z,1757010467.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:47.424Z,1757010467.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 288.794098 m,
      bearing: 164.015328 deg,
      approach rate: -0.732833 m/s,
      LOS rate: -0.006149 deg/s,
      cmd heading: 160.341833 deg,
      new cmd heading: 160.337056 deg.

2025-09-04T18:27:47.425Z,1757010467.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798409 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:47.528Z,1757010467.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761542
2025-09-04T18:27:47.777Z,1757010467.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011441
2025-09-04T18:27:47.862Z,1757010467.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:47.865Z,1757010467.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:47.867Z,1757010467.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 288.473114 m,
      bearing: 164.012380 deg,
      approach rate: -0.724209 m/s,
      LOS rate: -0.006658 deg/s,
      cmd heading: 160.337052 deg,
      new cmd heading: 160.331149 deg.

2025-09-04T18:27:47.868Z,1757010467.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798306 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:48.030Z,1757010468.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263725
2025-09-04T18:27:48.222Z,1757010468.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:48.225Z,1757010468.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 288.213715 m,
      bearing: 164.009996 deg,
      approach rate: -0.725895 m/s,
      LOS rate: -0.006677 deg/s,
      cmd heading: 160.331150 deg,
      new cmd heading: 160.326378 deg.

2025-09-04T18:27:48.226Z,1757010468.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798223 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:48.282Z,1757010468.282 [DAT](INFO): DAT read: Rx Time:18:27:46.7849

2025-09-04T18:27:48.283Z,1757010468.283 [DAT](INFO): Rx dataTimestamp_ set to:1757010468.282479
2025-09-04T18:27:48.284Z,1757010468.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517797
2025-09-04T18:27:48.537Z,1757010468.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770957
2025-09-04T18:27:48.740Z,1757010468.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.41 m.
2025-09-04T18:27:48.743Z,1757010468.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.406128 m,
      nav range: 287.837250 m,
      bearing: 164.006859 deg,
      approach rate: -0.726334 m/s,
      LOS rate: -0.006062 deg/s,
      cmd heading: 160.326383 deg,
      new cmd heading: 160.320099 deg.

2025-09-04T18:27:48.744Z,1757010468.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798114 target range: 301.406128 and range: 302.70 m.
2025-09-04T18:27:48.794Z,1757010468.794 [DAT](INFO): DAT read: 18:27:46.7849 LVL= 23584, 29217, 30274, 32243, AGC= 69, IDX= 408, 0.48, 2.736, 1.179, 2.741, 1.972, PHS= 0.866,-0.748, 0.725, RAW= 145.5, -10.9, CAL= 146.0, -12.9, ROT=   4.0,  12.9

2025-09-04T18:27:48.796Z,1757010468.796 [DAT](INFO): got valid direction response:
 18:27:46.7849 LVL= 23584, 29217, 30274, 32243, AGC= 69, IDX= 408, 0.48, 2.736, 1.179, 2.741, 1.972, PHS= 0.866,-0.748, 0.725, RAW= 145.5, -10.9, CAL= 146.0, -12.9, ROT=   4.0,  12.9

2025-09-04T18:27:48.797Z,1757010468.797 [DAT](INFO): DAT read: Bearing 306.1,   3.7 (Local)

2025-09-04T18:27:48.798Z,1757010468.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.1,   3.7 (Local)

2025-09-04T18:27:48.800Z,1757010468.800 [DAT](INFO): DAT read: Range 11 to 50 : 299.7 m  (Round-trip  399.7 ms) speed  0.6 m/s

2025-09-04T18:27:48.809Z,1757010468.809 [DAT](INFO): DAT read: user:2778>

2025-09-04T18:27:48.809Z,1757010468.809 [DAT](INFO): DAT read: Tx time:18:27:47.8811

2025-09-04T18:27:48.810Z,1757010468.810 [DAT](INFO): Ping request sent.
2025-09-04T18:27:48.810Z,1757010468.810 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:48.810Z,1757010468.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:48.811Z,1757010468.811 [DAT](INFO): direction in FSK: [0.972387,0.067996,-0.223250]
2025-09-04T18:27:48.811Z,1757010468.811 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:48.812Z,1757010468.812 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:48.815Z,1757010468.815 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:48.815Z,1757010468.815 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:49.081Z,1757010469.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.700012 m,
      deltaT: 4.032240 s,
      deltaX: -3.000000 m,
      approachRate: -0.744003 m/s,
      rangeRepo size: 4

2025-09-04T18:27:49.083Z,1757010469.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.425446 m,
      bearing: 164.342346 deg,
      lat: 36.779122 deg,
      lon: -121.859450 deg,
      deltaT: 4.032240 s,
      deltaX: -2.980682 m,
      approachRate: -0.739213 m/s,
      posRepo size: 4

2025-09-04T18:27:49.084Z,1757010469.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:49.096Z,1757010469.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:27:49.099Z,1757010469.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 289.179962 m,
      bearing: 164.302331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006062 deg/s,
      cmd heading: 160.320099 deg,
      new cmd heading: 160.316027 deg.

2025-09-04T18:27:49.113Z,1757010469.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.798043 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:49.472Z,1757010469.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:49.485Z,1757010469.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 288.897614 m,
      bearing: 164.300262 deg,
      approach rate: -0.750063 m/s,
      LOS rate: -0.005500 deg/s,
      cmd heading: 160.316028 deg,
      new cmd heading: 160.311887 deg.

2025-09-04T18:27:49.487Z,1757010469.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797970 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:49.936Z,1757010469.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:49.938Z,1757010469.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:49.941Z,1757010469.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 288.541565 m,
      bearing: 164.297469 deg,
      approach rate: -0.732393 m/s,
      LOS rate: -0.005752 deg/s,
      cmd heading: 160.311889 deg,
      new cmd heading: 160.306296 deg.

2025-09-04T18:27:49.942Z,1757010469.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797873 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:50.053Z,1757010470.053 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:50.054Z,1757010470.054 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:50.054Z,1757010470.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:50.101Z,1757010470.101 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:27:50.305Z,1757010470.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495268
2025-09-04T18:27:50.318Z,1757010470.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:50.341Z,1757010470.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 288.268250 m,
      bearing: 164.295312 deg,
      approach rate: -0.720180 m/s,
      LOS rate: -0.005690 deg/s,
      cmd heading: 160.306302 deg,
      new cmd heading: 160.301983 deg.

2025-09-04T18:27:50.342Z,1757010470.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797797 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:50.561Z,1757010470.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750620
2025-09-04T18:27:50.767Z,1757010470.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:50.770Z,1757010470.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 287.930267 m,
      bearing: 164.292729 deg,
      approach rate: -0.752572 m/s,
      LOS rate: -0.005758 deg/s,
      cmd heading: 160.301985 deg,
      new cmd heading: 160.296813 deg.

2025-09-04T18:27:50.771Z,1757010470.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797707 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:50.810Z,1757010470.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999776
2025-09-04T18:27:51.061Z,1757010471.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251080
2025-09-04T18:27:51.151Z,1757010471.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:51.158Z,1757010471.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 287.667877 m,
      bearing: 164.290716 deg,
      approach rate: -0.682655 m/s,
      LOS rate: -0.005242 deg/s,
      cmd heading: 160.296808 deg,
      new cmd heading: 160.292779 deg.

2025-09-04T18:27:51.159Z,1757010471.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797637 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:51.313Z,1757010471.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503093
2025-09-04T18:27:51.523Z,1757010471.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:51.550Z,1757010471.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 287.364410 m,
      bearing: 164.288404 deg,
      approach rate: -0.816096 m/s,
      LOS rate: -0.006226 deg/s,
      cmd heading: 160.292778 deg,
      new cmd heading: 160.288148 deg.

2025-09-04T18:27:51.551Z,1757010471.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797556 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:51.569Z,1757010471.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758846
2025-09-04T18:27:51.817Z,1757010471.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007320
2025-09-04T18:27:52.047Z,1757010472.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:52.057Z,1757010472.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:52.069Z,1757010472.069 [DAT](INFO): DAT read: Rx Time:18:27:50.6824

2025-09-04T18:27:52.070Z,1757010472.070 [DAT](INFO): Rx dataTimestamp_ set to:1757010472.069347
2025-09-04T18:27:52.070Z,1757010472.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260281
2025-09-04T18:27:52.072Z,1757010472.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 287.004242 m,
      bearing: 164.284623 deg,
      approach rate: -0.674403 m/s,
      LOS rate: -0.007087 deg/s,
      cmd heading: 160.288147 deg,
      new cmd heading: 160.280577 deg.

2025-09-04T18:27:52.073Z,1757010472.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797424 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:52.322Z,1757010472.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511725
2025-09-04T18:27:52.503Z,1757010472.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.43 m.
2025-09-04T18:27:52.510Z,1757010472.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.425446 m,
      nav range: 286.701630 m,
      bearing: 164.281453 deg,
      approach rate: -0.679098 m/s,
      LOS rate: -0.007121 deg/s,
      cmd heading: 160.280580 deg,
      new cmd heading: 160.274233 deg.

2025-09-04T18:27:52.511Z,1757010472.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797313 target range: 298.425446 and range: 299.70 m.
2025-09-04T18:27:52.583Z,1757010472.583 [DAT](INFO): DAT read: 18:27:50.6824 LVL= 27776, 32593, 32754, 32755, AGC= 68, IDX= 415, 0.10,-0.979,-2.401,-0.889,-1.659, PHS= 0.782,-0.697, 0.726, RAW= 148.1, -11.2, CAL= 148.9, -13.2, ROT=   1.1,  13.2

2025-09-04T18:27:52.602Z,1757010472.602 [DAT](INFO): got valid direction response:
 18:27:50.6824 LVL= 27776, 32593, 32754, 32755, AGC= 68, IDX= 415, 0.10,-0.979,-2.401,-0.889,-1.659, PHS= 0.782,-0.697, 0.726, RAW= 148.1, -11.2, CAL= 148.9, -13.2, ROT=   1.1,  13.2

2025-09-04T18:27:52.624Z,1757010472.624 [DAT](INFO): DAT read: Bearing 305.7,   1.7 (Local)

2025-09-04T18:27:52.633Z,1757010472.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.7,   1.7 (Local)

2025-09-04T18:27:52.643Z,1757010472.643 [DAT](INFO): DAT read: Range 11 to 50 : 297.8 m  (Round-trip  397.1 ms) speed  0.7 m/s

2025-09-04T18:27:52.651Z,1757010472.651 [DAT](INFO): DAT read: user:2779>

2025-09-04T18:27:52.657Z,1757010472.657 [DAT](INFO): DAT read: Tx time:18:27:51.7811

2025-09-04T18:27:52.657Z,1757010472.657 [DAT](INFO): Ping request sent.
2025-09-04T18:27:52.658Z,1757010472.658 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:27:52.658Z,1757010472.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:52.659Z,1757010472.659 [DAT](INFO): direction in FSK: [0.973399,0.018690,-0.228351]
2025-09-04T18:27:52.664Z,1757010472.664 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:52.665Z,1757010472.665 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:52.668Z,1757010472.668 [DAT](INFO): publishing transmit ping time
2025-09-04T18:27:52.672Z,1757010472.672 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:52.951Z,1757010472.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.799988 m,
      deltaT: 3.789399 s,
      deltaX: -1.900024 m,
      approachRate: -0.501405 m/s,
      rangeRepo size: 4

2025-09-04T18:27:52.953Z,1757010472.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 296.537872 m,
      bearing: 161.450335 deg,
      lat: 36.779139 deg,
      lon: -121.859364 deg,
      deltaT: 3.789399 s,
      deltaX: -1.887573 m,
      approachRate: -0.498119 m/s,
      posRepo size: 4

2025-09-04T18:27:52.954Z,1757010472.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:52.957Z,1757010472.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 286.684204 m,
      bearing: 162.689615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007121 deg/s,
      cmd heading: 160.274227 deg,
      new cmd heading: 160.267859 deg.

2025-09-04T18:27:52.958Z,1757010472.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797202 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:53.317Z,1757010473.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:53.319Z,1757010473.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 286.412292 m,
      bearing: 162.684081 deg,
      approach rate: -0.741279 m/s,
      LOS rate: -0.015101 deg/s,
      cmd heading: 160.267862 deg,
      new cmd heading: 160.256783 deg.

2025-09-04T18:27:53.321Z,1757010473.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.797009 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:53.726Z,1757010473.726 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V
2025-09-04T18:27:53.770Z,1757010473.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:53.773Z,1757010473.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 286.090363 m,
      bearing: 162.677516 deg,
      approach rate: -0.710847 m/s,
      LOS rate: -0.014514 deg/s,
      cmd heading: 160.256783 deg,
      new cmd heading: 160.243637 deg.

2025-09-04T18:27:53.774Z,1757010473.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796779 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:54.140Z,1757010474.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:54.143Z,1757010474.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:54.150Z,1757010474.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 285.830750 m,
      bearing: 162.672196 deg,
      approach rate: -0.696172 m/s,
      LOS rate: -0.014276 deg/s,
      cmd heading: 160.243642 deg,
      new cmd heading: 160.232994 deg.

2025-09-04T18:27:54.151Z,1757010474.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796593 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:54.337Z,1757010474.337 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:54.337Z,1757010474.337 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:54.337Z,1757010474.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:54.521Z,1757010474.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:54.523Z,1757010474.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 285.530701 m,
      bearing: 162.666021 deg,
      approach rate: -0.794522 m/s,
      LOS rate: -0.016369 deg/s,
      cmd heading: 160.233000 deg,
      new cmd heading: 160.220637 deg.

2025-09-04T18:27:54.525Z,1757010474.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796378 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:54.590Z,1757010474.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932665
2025-09-04T18:27:54.841Z,1757010474.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183831
2025-09-04T18:27:54.935Z,1757010474.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:54.938Z,1757010474.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 285.228516 m,
      bearing: 162.659475 deg,
      approach rate: -0.728814 m/s,
      LOS rate: -0.015806 deg/s,
      cmd heading: 160.220638 deg,
      new cmd heading: 160.207531 deg.

2025-09-04T18:27:54.939Z,1757010474.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.796149 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:55.093Z,1757010475.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435569
2025-09-04T18:27:55.318Z,1757010475.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:55.321Z,1757010475.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 284.948944 m,
      bearing: 162.653426 deg,
      approach rate: -0.729474 m/s,
      LOS rate: -0.015799 deg/s,
      cmd heading: 160.207537 deg,
      new cmd heading: 160.195428 deg.

2025-09-04T18:27:55.322Z,1757010475.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795938 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:55.345Z,1757010475.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687743
2025-09-04T18:27:55.599Z,1757010475.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941440
2025-09-04T18:27:55.745Z,1757010475.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:55.748Z,1757010475.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 284.636841 m,
      bearing: 162.646077 deg,
      approach rate: -0.731162 m/s,
      LOS rate: -0.017236 deg/s,
      cmd heading: 160.195421 deg,
      new cmd heading: 160.180706 deg.

2025-09-04T18:27:55.749Z,1757010475.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795681 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:55.850Z,1757010475.850 [DAT](INFO): DAT read: Rx Time:18:27:54.5784

2025-09-04T18:27:55.855Z,1757010475.855 [DAT](INFO): Rx dataTimestamp_ set to:1757010475.851188
2025-09-04T18:27:55.856Z,1757010475.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.198264
2025-09-04T18:27:56.103Z,1757010476.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.445319
2025-09-04T18:27:56.161Z,1757010476.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:56.163Z,1757010476.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:56.165Z,1757010476.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 284.331696 m,
      bearing: 162.638891 deg,
      approach rate: -0.730689 m/s,
      LOS rate: -0.017224 deg/s,
      cmd heading: 160.180708 deg,
      new cmd heading: 160.166323 deg.

2025-09-04T18:27:56.166Z,1757010476.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795430 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:56.356Z,1757010476.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.698237
2025-09-04T18:27:56.550Z,1757010476.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.54 m.
2025-09-04T18:27:56.553Z,1757010476.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 296.537872 m,
      nav range: 284.061829 m,
      bearing: 162.632556 deg,
      approach rate: -0.697376 m/s,
      LOS rate: -0.016387 deg/s,
      cmd heading: 160.166324 deg,
      new cmd heading: 160.153641 deg.

2025-09-04T18:27:56.554Z,1757010476.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.795208 target range: 296.537872 and range: 297.80 m.
2025-09-04T18:27:56.633Z,1757010476.633 [DAT](INFO): DAT read: 18:27:54.5784 LVL= 29424, 31809, 31186, 32755, AGC= 71, IDX= 406,-0.08,-1.895, 2.855,-1.840,-2.715, PHS= 0.922,-0.668, 0.831, RAW= 147.1, -13.9, CAL= 148.2, -16.3, ROT=   1.8,  16.3

2025-09-04T18:27:56.635Z,1757010476.635 [DAT](INFO): got valid direction response:
 18:27:54.5784 LVL= 29424, 31809, 31186, 32755, AGC= 71, IDX= 406,-0.08,-1.895, 2.855,-1.840,-2.715, PHS= 0.922,-0.668, 0.831, RAW= 147.1, -13.9, CAL= 148.2, -16.3, ROT=   1.8,  16.3

2025-09-04T18:27:56.636Z,1757010476.636 [DAT](INFO): DAT read: Bearing 302.6,   3.1 (Local)

2025-09-04T18:27:56.637Z,1757010476.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.6,   3.1 (Local)

2025-09-04T18:27:56.638Z,1757010476.638 [DAT](INFO): DAT read: Range 11 to 50 : 294.8 m  (Round-trip  393.1 ms) speed  0.4 m/s

2025-09-04T18:27:56.639Z,1757010476.639 [DAT](INFO): DAT read: user:2780>

2025-09-04T18:27:56.639Z,1757010476.639 [DAT](INFO): DAT read: Tx tim

2025-09-04T18:27:56.640Z,1757010476.640 [DAT](INFO): unknown deviceResponse_: Tx tim

2025-09-04T18:27:56.673Z,1757010476.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:27:56.685Z,1757010476.685 [DAT](INFO): direction in FSK: [0.959332,0.030148,-0.280667]
2025-09-04T18:27:56.686Z,1757010476.686 [DAT](INFO): publishing direction and range info
2025-09-04T18:27:56.721Z,1757010476.721 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:27:56.721Z,1757010476.721 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:27:56.722Z,1757010476.722 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:27:56.857Z,1757010476.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.199682
2025-09-04T18:27:56.974Z,1757010476.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 294.799988 m,
      deltaT: 4.031131 s,
      deltaX: -3.000000 m,
      approachRate: -0.744208 m/s,
      rangeRepo size: 4

2025-09-04T18:27:56.976Z,1757010476.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 293.557312 m,
      bearing: 162.048138 deg,
      lat: 36.779139 deg,
      lon: -121.859337 deg,
      deltaT: 4.031131 s,
      deltaX: -2.980560 m,
      approachRate: -0.739386 m/s,
      posRepo size: 4

2025-09-04T18:27:56.977Z,1757010476.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:56.980Z,1757010476.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 284.426849 m,
      bearing: 162.168360 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016387 deg/s,
      cmd heading: 160.153647 deg,
      new cmd heading: 160.139752 deg.

2025-09-04T18:27:56.981Z,1757010476.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794966 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:57.110Z,1757010477.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.452540
2025-09-04T18:27:57.346Z,1757010477.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:57.348Z,1757010477.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 284.151672 m,
      bearing: 162.161529 deg,
      approach rate: -0.739721 m/s,
      LOS rate: -0.018378 deg/s,
      cmd heading: 160.139755 deg,
      new cmd heading: 160.126081 deg.

2025-09-04T18:27:57.349Z,1757010477.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794727 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:57.361Z,1757010477.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.703734
2025-09-04T18:27:57.615Z,1757010477.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.958096
2025-09-04T18:27:57.833Z,1757010477.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:57.836Z,1757010477.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 283.811127 m,
      bearing: 162.152666 deg,
      approach rate: -0.698650 m/s,
      LOS rate: -0.018205 deg/s,
      cmd heading: 160.126081 deg,
      new cmd heading: 160.108333 deg.

2025-09-04T18:27:57.865Z,1757010477.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.207719
2025-09-04T18:27:57.866Z,1757010477.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794418 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:58.118Z,1757010478.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.460456
2025-09-04T18:27:58.181Z,1757010478.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:27:58.183Z,1757010478.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:58.190Z,1757010478.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 283.557495 m,
      bearing: 162.146057 deg,
      approach rate: -0.724490 m/s,
      LOS rate: -0.018896 deg/s,
      cmd heading: 160.108336 deg,
      new cmd heading: 160.095105 deg.

2025-09-04T18:27:58.191Z,1757010478.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.794187 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:58.369Z,1757010478.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.711849
2025-09-04T18:27:58.566Z,1757010478.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:58.569Z,1757010478.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 283.275940 m,
      bearing: 162.138715 deg,
      approach rate: -0.734899 m/s,
      LOS rate: -0.019183 deg/s,
      cmd heading: 160.095099 deg,
      new cmd heading: 160.080400 deg.

2025-09-04T18:27:58.570Z,1757010478.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793930 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:58.624Z,1757010478.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.966226
2025-09-04T18:27:58.873Z,1757010478.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.215856
2025-09-04T18:27:58.999Z,1757010478.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:59.002Z,1757010479.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 282.966156 m,
      bearing: 162.130685 deg,
      approach rate: -0.715630 m/s,
      LOS rate: -0.018570 deg/s,
      cmd heading: 160.080400 deg,
      new cmd heading: 160.064323 deg.

2025-09-04T18:27:59.003Z,1757010479.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793649 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:59.125Z,1757010479.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.467792
2025-09-04T18:27:59.377Z,1757010479.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.719666
2025-09-04T18:27:59.398Z,1757010479.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:59.406Z,1757010479.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 282.699860 m,
      bearing: 162.123775 deg,
      approach rate: -0.668101 m/s,
      LOS rate: -0.017353 deg/s,
      cmd heading: 160.064322 deg,
      new cmd heading: 160.050489 deg.

2025-09-04T18:27:59.407Z,1757010479.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793408 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:59.630Z,1757010479.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.972285
2025-09-04T18:27:59.815Z,1757010479.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:27:59.822Z,1757010479.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 282.391602 m,
      bearing: 162.116267 deg,
      approach rate: -0.738208 m/s,
      LOS rate: -0.018001 deg/s,
      cmd heading: 160.050484 deg,
      new cmd heading: 160.035451 deg.

2025-09-04T18:27:59.823Z,1757010479.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.793145 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:27:59.882Z,1757010479.882 [DAT](INFO): DAT read: Rx Time:18:27:58.4749

2025-09-04T18:27:59.882Z,1757010479.882 [DAT](INFO): Rx dataTimestamp_ set to:1757010479.881752
2025-09-04T18:27:59.883Z,1757010479.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.225327
2025-09-04T18:28:00.133Z,1757010480.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.475734
2025-09-04T18:28:00.211Z,1757010480.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:00.239Z,1757010480.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.56 m.
2025-09-04T18:28:00.285Z,1757010480.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.557312 m,
      nav range: 282.093140 m,
      bearing: 162.108981 deg,
      approach rate: -0.706937 m/s,
      LOS rate: -0.017276 deg/s,
      cmd heading: 160.035444 deg,
      new cmd heading: 160.020857 deg.

2025-09-04T18:28:00.324Z,1757010480.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792891 target range: 293.557312 and range: 294.80 m.
2025-09-04T18:28:00.393Z,1757010480.393 [DAT](INFO): DAT read: 18:27:58.4749 LVL= 29488, 30257, 30098, 29683, AGC= 65, IDX= 402, 0.20, 0.970,-0.538, 1.122, 0.133, PHS= 0.938,-0.626, 0.944, RAW= 150.2, -15.8, CAL= 151.9, -18.1, ROT= 358.1,  18.1

2025-09-04T18:28:00.395Z,1757010480.395 [DAT](INFO): got valid direction response:
 18:27:58.4749 LVL= 29488, 30257, 30098, 29683, AGC= 65, IDX= 402, 0.20, 0.970,-0.538, 1.122, 0.133, PHS= 0.938,-0.626, 0.944, RAW= 150.2, -15.8, CAL= 151.9, -18.1, ROT= 358.1,  18.1

2025-09-04T18:28:00.396Z,1757010480.396 [DAT](INFO): DAT read: Bearing 300.7,   0.1 (Local)

2025-09-04T18:28:00.397Z,1757010480.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.7,   0.1 (Local)

2025-09-04T18:28:00.399Z,1757010480.399 [DAT](INFO): DAT read: Range 11 to 50 : 292.2 m  (Round-trip  389.6 ms) speed  0.4 m/s

2025-09-04T18:28:00.400Z,1757010480.400 [DAT](INFO): DAT read: user:2781>

2025-09-04T18:28:00.401Z,1757010480.401 [DAT](INFO): DAT read: Tx time:18:27:59.5811

2025-09-04T18:28:00.401Z,1757010480.401 [DAT](INFO): Ping request sent.
2025-09-04T18:28:00.402Z,1757010480.402 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:00.402Z,1757010480.402 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:00.403Z,1757010480.403 [DAT](INFO): direction in FSK: [0.949993,-0.031514,-0.310676]
2025-09-04T18:28:00.410Z,1757010480.410 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:00.410Z,1757010480.410 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:00.420Z,1757010480.420 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:00.420Z,1757010480.420 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:00.738Z,1757010480.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.200012 m,
      deltaT: 3.778970 s,
      deltaX: -2.599976 m,
      approachRate: -0.688012 m/s,
      rangeRepo size: 4

2025-09-04T18:28:00.754Z,1757010480.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 290.968109 m,
      bearing: 158.211591 deg,
      lat: 36.779139 deg,
      lon: -121.859337 deg,
      deltaT: 3.778970 s,
      deltaX: -2.589203 m,
      approachRate: -0.685161 m/s,
      posRepo size: 4

2025-09-04T18:28:00.761Z,1757010480.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:00.777Z,1757010480.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 281.743958 m,
      bearing: 162.100499 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017276 deg/s,
      cmd heading: 160.020855 deg,
      new cmd heading: 160.004047 deg.

2025-09-04T18:28:00.778Z,1757010480.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792598 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:01.167Z,1757010481.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:01.190Z,1757010481.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 281.405823 m,
      bearing: 162.092899 deg,
      approach rate: -0.762650 m/s,
      LOS rate: -0.017162 deg/s,
      cmd heading: 160.004052 deg,
      new cmd heading: 159.988834 deg.

2025-09-04T18:28:01.191Z,1757010481.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792332 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:01.544Z,1757010481.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:01.547Z,1757010481.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 281.124207 m,
      bearing: 162.086542 deg,
      approach rate: -0.747566 m/s,
      LOS rate: -0.016891 deg/s,
      cmd heading: 159.988835 deg,
      new cmd heading: 159.976109 deg.

2025-09-04T18:28:01.548Z,1757010481.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.792110 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:01.967Z,1757010481.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:01.970Z,1757010481.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 280.815582 m,
      bearing: 162.079553 deg,
      approach rate: -0.729946 m/s,
      LOS rate: -0.016548 deg/s,
      cmd heading: 159.976103 deg,
      new cmd heading: 159.962110 deg.

2025-09-04T18:28:01.971Z,1757010481.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791866 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:02.357Z,1757010482.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:02.359Z,1757010482.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:02.362Z,1757010482.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 280.536011 m,
      bearing: 162.073220 deg,
      approach rate: -0.712007 m/s,
      LOS rate: -0.016145 deg/s,
      cmd heading: 159.962115 deg,
      new cmd heading: 159.949436 deg.

2025-09-04T18:28:02.363Z,1757010482.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791644 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:02.401Z,1757010482.401 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:02.402Z,1757010482.402 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:02.402Z,1757010482.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:02.653Z,1757010482.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251377
2025-09-04T18:28:02.876Z,1757010482.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:02.879Z,1757010482.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 280.154266 m,
      bearing: 162.064926 deg,
      approach rate: -0.738872 m/s,
      LOS rate: -0.016074 deg/s,
      cmd heading: 159.949438 deg,
      new cmd heading: 159.932829 deg.

2025-09-04T18:28:02.880Z,1757010482.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791354 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:02.905Z,1757010482.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503495
2025-09-04T18:28:03.158Z,1757010483.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756382
2025-09-04T18:28:03.238Z,1757010483.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:03.241Z,1757010483.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 279.891785 m,
      bearing: 162.059207 deg,
      approach rate: -0.724759 m/s,
      LOS rate: -0.015808 deg/s,
      cmd heading: 159.932827 deg,
      new cmd heading: 159.921377 deg.

2025-09-04T18:28:03.242Z,1757010483.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.791155 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:03.409Z,1757010483.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007362
2025-09-04T18:28:03.661Z,1757010483.661 [DAT](INFO): DAT read: Rx Time:18:28:02.3716

2025-09-04T18:28:03.662Z,1757010483.662 [DAT](INFO): Rx dataTimestamp_ set to:1757010483.661559
2025-09-04T18:28:03.662Z,1757010483.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260796
2025-09-04T18:28:03.670Z,1757010483.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:03.677Z,1757010483.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 279.583832 m,
      bearing: 162.052472 deg,
      approach rate: -0.712846 m/s,
      LOS rate: -0.015607 deg/s,
      cmd heading: 159.921380 deg,
      new cmd heading: 159.907896 deg.

2025-09-04T18:28:03.678Z,1757010483.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790919 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:03.913Z,1757010483.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511444
2025-09-04T18:28:04.069Z,1757010484.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.97 m.
2025-09-04T18:28:04.085Z,1757010484.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.968109 m,
      nav range: 279.289948 m,
      bearing: 162.046018 deg,
      approach rate: -0.736835 m/s,
      LOS rate: -0.016199 deg/s,
      cmd heading: 159.907897 deg,
      new cmd heading: 159.894975 deg.

2025-09-04T18:28:04.087Z,1757010484.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790694 target range: 290.968109 and range: 292.20 m.
2025-09-04T18:28:04.193Z,1757010484.193 [DAT](INFO): DAT read: 18:28:02.3716 LVL= 25328, 29873, 29170, 31315, AGC= 68, IDX= 401, 0.10, 2.856, 1.466, 2.992, 2.130, PHS= 0.828,-0.619, 0.817, RAW= 149.6, -14.1, CAL= 151.0, -16.3, ROT= 359.0,  16.3

2025-09-04T18:28:04.194Z,1757010484.194 [DAT](INFO): got valid direction response:
 18:28:02.3716 LVL= 25328, 29873, 29170, 31315, AGC= 68, IDX= 401, 0.10, 2.856, 1.466, 2.992, 2.130, PHS= 0.828,-0.619, 0.817, RAW= 149.6, -14.1, CAL= 151.0, -16.3, ROT= 359.0,  16.3

2025-09-04T18:28:04.195Z,1757010484.195 [DAT](INFO): DAT read: Bearing 302.4,   1.3 (Local)

2025-09-04T18:28:04.195Z,1757010484.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.4,   1.3 (Local)

2025-09-04T18:28:04.209Z,1757010484.209 [DAT](INFO): DAT read: Range 11 to 50 : 289.8 m  (Round-trip  386.4 ms) speed  0.5 m/s

2025-09-04T18:28:04.210Z,1757010484.210 [DAT](INFO): DAT read: user:2782>

2025-09-04T18:28:04.211Z,1757010484.211 [DAT](INFO): DAT read: Tx time:18:28:03.4811

2025-09-04T18:28:04.211Z,1757010484.211 [DAT](INFO): Ping request sent.
2025-09-04T18:28:04.211Z,1757010484.211 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:04.228Z,1757010484.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:04.229Z,1757010484.229 [DAT](INFO): direction in FSK: [0.959659,-0.016751,-0.280667]
2025-09-04T18:28:04.229Z,1757010484.229 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:04.230Z,1757010484.230 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:04.241Z,1757010484.241 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:04.241Z,1757010484.241 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:04.521Z,1757010484.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.799988 m,
      deltaT: 3.782509 s,
      deltaX: -2.400024 m,
      approachRate: -0.634506 m/s,
      rangeRepo size: 4

2025-09-04T18:28:04.523Z,1757010484.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.577667 m,
      bearing: 159.152922 deg,
      lat: 36.779157 deg,
      lon: -121.859290 deg,
      deltaT: 3.782509 s,
      deltaX: -2.390442 m,
      approachRate: -0.631973 m/s,
      posRepo size: 4

2025-09-04T18:28:04.528Z,1757010484.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:04.531Z,1757010484.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 278.461151 m,
      bearing: 161.100422 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016199 deg/s,
      cmd heading: 159.894974 deg,
      new cmd heading: 159.880488 deg.

2025-09-04T18:28:04.532Z,1757010484.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790441 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:04.886Z,1757010484.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:04.889Z,1757010484.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:04.891Z,1757010484.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 278.155365 m,
      bearing: 161.093048 deg,
      approach rate: -0.821754 m/s,
      LOS rate: -0.019839 deg/s,
      cmd heading: 159.880494 deg,
      new cmd heading: 159.865730 deg.

2025-09-04T18:28:04.893Z,1757010484.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.790183 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:04.921Z,1757010484.921 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:04.921Z,1757010484.921 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:04.921Z,1757010484.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:05.173Z,1757010485.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961673
2025-09-04T18:28:05.267Z,1757010485.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:05.269Z,1757010485.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 277.880737 m,
      bearing: 161.086415 deg,
      approach rate: -0.725845 m/s,
      LOS rate: -0.017549 deg/s,
      cmd heading: 159.865727 deg,
      new cmd heading: 159.852448 deg.

2025-09-04T18:28:05.270Z,1757010485.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789952 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:05.425Z,1757010485.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213529
2025-09-04T18:28:05.654Z,1757010485.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:05.681Z,1757010485.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469474
2025-09-04T18:28:05.697Z,1757010485.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 277.600922 m,
      bearing: 161.079669 deg,
      approach rate: -0.722181 m/s,
      LOS rate: -0.017429 deg/s,
      cmd heading: 159.852450 deg,
      new cmd heading: 159.838944 deg.

2025-09-04T18:28:05.698Z,1757010485.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789716 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:05.933Z,1757010485.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721829
2025-09-04T18:28:06.106Z,1757010486.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:06.118Z,1757010486.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 277.291443 m,
      bearing: 161.072989 deg,
      approach rate: -0.684850 m/s,
      LOS rate: -0.014799 deg/s,
      cmd heading: 159.838939 deg,
      new cmd heading: 159.825565 deg.

2025-09-04T18:28:06.119Z,1757010486.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789482 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:06.185Z,1757010486.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973583
2025-09-04T18:28:06.437Z,1757010486.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225554
2025-09-04T18:28:06.467Z,1757010486.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:06.504Z,1757010486.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 277.007538 m,
      bearing: 161.066856 deg,
      approach rate: -0.786242 m/s,
      LOS rate: -0.017001 deg/s,
      cmd heading: 159.825566 deg,
      new cmd heading: 159.813288 deg.

2025-09-04T18:28:06.506Z,1757010486.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.789268 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:06.689Z,1757010486.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477451
2025-09-04T18:28:06.941Z,1757010486.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729805
2025-09-04T18:28:06.958Z,1757010486.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:06.961Z,1757010486.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:06.963Z,1757010486.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 276.653839 m,
      bearing: 161.057983 deg,
      approach rate: -0.717610 m/s,
      LOS rate: -0.018025 deg/s,
      cmd heading: 159.813285 deg,
      new cmd heading: 159.795517 deg.

2025-09-04T18:28:06.965Z,1757010486.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788958 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:07.193Z,1757010487.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981477
2025-09-04T18:28:07.274Z,1757010487.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:07.277Z,1757010487.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 276.425446 m,
      bearing: 161.052271 deg,
      approach rate: -0.727143 m/s,
      LOS rate: -0.018202 deg/s,
      cmd heading: 159.795513 deg,
      new cmd heading: 159.784079 deg.

2025-09-04T18:28:07.278Z,1757010487.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788758 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:07.449Z,1757010487.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237677
2025-09-04T18:28:07.701Z,1757010487.701 [DAT](INFO): DAT read: Rx Time:18:28:06.2685

2025-09-04T18:28:07.702Z,1757010487.702 [DAT](INFO): Rx dataTimestamp_ set to:1757010487.701376
2025-09-04T18:28:07.702Z,1757010487.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490747
2025-09-04T18:28:07.730Z,1757010487.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:07.741Z,1757010487.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 276.120880 m,
      bearing: 161.044639 deg,
      approach rate: -0.668390 m/s,
      LOS rate: -0.016768 deg/s,
      cmd heading: 159.784079 deg,
      new cmd heading: 159.768798 deg.

2025-09-04T18:28:07.742Z,1757010487.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788491 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:07.953Z,1757010487.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741477
2025-09-04T18:28:08.167Z,1757010488.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.58 m.
2025-09-04T18:28:08.169Z,1757010488.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.577667 m,
      nav range: 275.782562 m,
      bearing: 161.036342 deg,
      approach rate: -0.774493 m/s,
      LOS rate: -0.019015 deg/s,
      cmd heading: 159.768793 deg,
      new cmd heading: 159.752181 deg.

2025-09-04T18:28:08.170Z,1757010488.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.788202 target range: 288.577667 and range: 289.80 m.
2025-09-04T18:28:08.219Z,1757010488.219 [DAT](INFO): DAT read: 18:28:06.2685 LVL= 25152, 32465, 28994, 32755, AGC= 70, IDX= 421,-0.01, 2.743, 1.279, 2.679, 1.882, PHS= 0.963,-0.558, 0.753, RAW= 142.7, -16.0, CAL= 143.3, -19.1, ROT=   6.7,  19.1

2025-09-04T18:28:08.221Z,1757010488.221 [DAT](INFO): got valid direction response:
 18:28:06.2685 LVL= 25152, 32465, 28994, 32755, AGC= 70, IDX= 421,-0.01, 2.743, 1.279, 2.679, 1.882, PHS= 0.963,-0.558, 0.753, RAW= 142.7, -16.0, CAL= 143.3, -19.1, ROT=   6.7,  19.1

2025-09-04T18:28:08.223Z,1757010488.223 [DAT](INFO): DAT read: Bearing 299.4,   8.9 (Local)

2025-09-04T18:28:08.223Z,1757010488.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.4,   8.9 (Local)

2025-09-04T18:28:08.226Z,1757010488.226 [DAT](INFO): DAT read: Range 11 to 50 : 287.4 m  (Round-trip  383.3 ms) speed  0.5 m/s

2025-09-04T18:28:08.227Z,1757010488.227 [DAT](INFO): DAT read: user:2783>

2025-09-04T18:28:08.236Z,1757010488.236 [DAT](INFO): DAT read: Tx time:18:28:07.3826

2025-09-04T18:28:08.236Z,1757010488.236 [DAT](INFO): Ping request sent.
2025-09-04T18:28:08.236Z,1757010488.236 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:08.237Z,1757010488.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:08.238Z,1757010488.238 [DAT](INFO): direction in FSK: [0.938496,0.110248,-0.327218]
2025-09-04T18:28:08.238Z,1757010488.238 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:08.239Z,1757010488.239 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:08.242Z,1757010488.242 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:08.242Z,1757010488.242 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:08.618Z,1757010488.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 287.399994 m,
      deltaT: 4.038135 s,
      deltaX: -2.399994 m,
      approachRate: -0.594332 m/s,
      rangeRepo size: 4

2025-09-04T18:28:08.645Z,1757010488.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 286.187561 m,
      bearing: 166.518259 deg,
      lat: 36.779157 deg,
      lon: -121.859290 deg,
      deltaT: 4.038135 s,
      deltaX: -2.390106 m,
      approachRate: -0.591884 m/s,
      posRepo size: 4

2025-09-04T18:28:08.646Z,1757010488.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:08.653Z,1757010488.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 275.493408 m,
      bearing: 161.029263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019015 deg/s,
      cmd heading: 159.752182 deg,
      new cmd heading: 159.735272 deg.

2025-09-04T18:28:08.654Z,1757010488.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787906 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:09.046Z,1757010489.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:09.048Z,1757010489.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:09.051Z,1757010489.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 275.146118 m,
      bearing: 161.020875 deg,
      approach rate: -0.795575 m/s,
      LOS rate: -0.019240 deg/s,
      cmd heading: 159.735271 deg,
      new cmd heading: 159.718473 deg.

2025-09-04T18:28:09.052Z,1757010489.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787613 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:09.213Z,1757010489.213 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:09.213Z,1757010489.213 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:09.213Z,1757010489.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:09.389Z,1757010489.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:09.410Z,1757010489.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 274.898163 m,
      bearing: 161.014882 deg,
      approach rate: -0.726511 m/s,
      LOS rate: -0.017575 deg/s,
      cmd heading: 159.718469 deg,
      new cmd heading: 159.706472 deg.

2025-09-04T18:28:09.411Z,1757010489.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787404 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:09.470Z,1757010489.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232512
2025-09-04T18:28:09.717Z,1757010489.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480638
2025-09-04T18:28:09.898Z,1757010489.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:09.905Z,1757010489.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 274.580536 m,
      bearing: 161.007183 deg,
      approach rate: -0.624574 m/s,
      LOS rate: -0.015157 deg/s,
      cmd heading: 159.706475 deg,
      new cmd heading: 159.691058 deg.

2025-09-04T18:28:09.906Z,1757010489.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.787135 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:09.970Z,1757010489.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733348
2025-09-04T18:28:10.221Z,1757010490.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984572
2025-09-04T18:28:10.287Z,1757010490.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:10.290Z,1757010490.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 274.250610 m,
      bearing: 160.998484 deg,
      approach rate: -0.846471 m/s,
      LOS rate: -0.022345 deg/s,
      cmd heading: 159.691052 deg,
      new cmd heading: 159.673634 deg.

2025-09-04T18:28:10.291Z,1757010490.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786831 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:10.474Z,1757010490.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237186
2025-09-04T18:28:10.630Z,1757010490.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:10.650Z,1757010490.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 274.004547 m,
      bearing: 160.991982 deg,
      approach rate: -0.717149 m/s,
      LOS rate: -0.018967 deg/s,
      cmd heading: 159.673635 deg,
      new cmd heading: 159.660620 deg.

2025-09-04T18:28:10.653Z,1757010490.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786603 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:10.725Z,1757010490.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488758
2025-09-04T18:28:10.977Z,1757010490.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740680
2025-09-04T18:28:11.056Z,1757010491.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:11.058Z,1757010491.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:11.090Z,1757010491.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 273.698792 m,
      bearing: 160.983550 deg,
      approach rate: -0.714536 m/s,
      LOS rate: -0.019728 deg/s,
      cmd heading: 159.660617 deg,
      new cmd heading: 159.643734 deg.

2025-09-04T18:28:11.097Z,1757010491.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786309 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:11.229Z,1757010491.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992540
2025-09-04T18:28:11.445Z,1757010491.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:11.447Z,1757010491.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 273.422089 m,
      bearing: 160.975919 deg,
      approach rate: -0.716466 m/s,
      LOS rate: -0.019779 deg/s,
      cmd heading: 159.643733 deg,
      new cmd heading: 159.628455 deg.

2025-09-04T18:28:11.453Z,1757010491.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.786042 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:11.482Z,1757010491.482 [DAT](INFO): DAT read: Rx Time:18:28:10.1667

2025-09-04T18:28:11.483Z,1757010491.483 [DAT](INFO): Rx dataTimestamp_ set to:1757010491.482045
2025-09-04T18:28:11.484Z,1757010491.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246764
2025-09-04T18:28:11.733Z,1757010491.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496689
2025-09-04T18:28:11.847Z,1757010491.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.19 m.
2025-09-04T18:28:11.881Z,1757010491.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.187561 m,
      nav range: 273.138062 m,
      bearing: 160.968070 deg,
      approach rate: -0.706115 m/s,
      LOS rate: -0.019534 deg/s,
      cmd heading: 159.628460 deg,
      new cmd heading: 159.612746 deg.

2025-09-04T18:28:11.889Z,1757010491.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.785768 target range: 286.187561 and range: 287.40 m.
2025-09-04T18:28:11.991Z,1757010491.991 [DAT](INFO): DAT read: 18:28:10.1667 LVL= 27632, 30017, 31730, 28547, AGC= 69, IDX= 400,-0.02, 0.737,-0.844, 0.819,-0.001, PHS= 0.841,-0.798, 0.777, RAW= 148.0, -10.2, CAL= 148.6, -12.1, ROT=   1.4,  12.1

2025-09-04T18:28:11.992Z,1757010491.992 [DAT](INFO): got valid direction response:
 18:28:10.1667 LVL= 27632, 30017, 31730, 28547, AGC= 69, IDX= 400,-0.02, 0.737,-0.844, 0.819,-0.001, PHS= 0.841,-0.798, 0.777, RAW= 148.0, -10.2, CAL= 148.6, -12.1, ROT=   1.4,  12.1

2025-09-04T18:28:11.993Z,1757010491.993 [DAT](INFO): DAT read: Bearing 306.0,   4.1 (Local)

2025-09-04T18:28:11.994Z,1757010491.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.0,   4.1 (Local)

2025-09-04T18:28:11.995Z,1757010491.995 [DAT](INFO): DAT read: Range 11 to 50 : 285.0 m  (Round-trip  380.0 ms) speed  0.4 m/s

2025-09-04T18:28:11.996Z,1757010491.996 [DAT](INFO): DAT read: user:2784>

2025-09-04T18:28:11.997Z,1757010491.997 [DAT](INFO): DAT read: Tx time:18:28:11.2810

2025-09-04T18:28:11.997Z,1757010491.997 [DAT](INFO): Ping request sent.
2025-09-04T18:28:11.997Z,1757010491.997 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:11.997Z,1757010491.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:11.998Z,1757010491.998 [DAT](INFO): direction in FSK: [0.977491,0.023889,-0.209619]
2025-09-04T18:28:11.998Z,1757010491.998 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:11.999Z,1757010491.999 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:12.002Z,1757010492.002 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:12.002Z,1757010492.002 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:12.380Z,1757010492.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.000000 m,
      deltaT: 3.779800 s,
      deltaX: -2.399994 m,
      approachRate: -0.634953 m/s,
      rangeRepo size: 4

2025-09-04T18:28:12.383Z,1757010492.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 283.797302 m,
      bearing: 161.404338 deg,
      lat: 36.779157 deg,
      lon: -121.859288 deg,
      deltaT: 3.779800 s,
      deltaX: -2.390259 m,
      approachRate: -0.632377 m/s,
      posRepo size: 4

2025-09-04T18:28:12.383Z,1757010492.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:12.387Z,1757010492.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 272.854553 m,
      bearing: 160.908334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019534 deg/s,
      cmd heading: 159.612751 deg,
      new cmd heading: 159.591938 deg.

2025-09-04T18:28:12.388Z,1757010492.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.785405 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:12.734Z,1757010492.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:12.737Z,1757010492.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 272.584137 m,
      bearing: 160.898805 deg,
      approach rate: -0.762593 m/s,
      LOS rate: -0.026899 deg/s,
      cmd heading: 159.591933 deg,
      new cmd heading: 159.572856 deg.

2025-09-04T18:28:12.738Z,1757010492.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.785072 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:13.151Z,1757010493.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:13.154Z,1757010493.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:13.157Z,1757010493.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 272.284515 m,
      bearing: 160.889402 deg,
      approach rate: -0.713879 m/s,
      LOS rate: -0.022428 deg/s,
      cmd heading: 159.572849 deg,
      new cmd heading: 159.554022 deg.

2025-09-04T18:28:13.158Z,1757010493.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784743 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:13.245Z,1757010493.245 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:13.245Z,1757010493.245 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:13.245Z,1757010493.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:13.497Z,1757010493.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500358
2025-09-04T18:28:13.547Z,1757010493.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:13.575Z,1757010493.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 272.002686 m,
      bearing: 160.880537 deg,
      approach rate: -0.716484 m/s,
      LOS rate: -0.022560 deg/s,
      cmd heading: 159.554025 deg,
      new cmd heading: 159.536277 deg.

2025-09-04T18:28:13.585Z,1757010493.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784433 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:13.749Z,1757010493.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752047
2025-09-04T18:28:14.001Z,1757010494.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003946
2025-09-04T18:28:14.006Z,1757010494.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:14.009Z,1757010494.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 271.677704 m,
      bearing: 160.869660 deg,
      approach rate: -0.709092 m/s,
      LOS rate: -0.023761 deg/s,
      cmd heading: 159.536280 deg,
      new cmd heading: 159.514500 deg.

2025-09-04T18:28:14.010Z,1757010494.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.784053 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:14.256Z,1757010494.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259372
2025-09-04T18:28:14.375Z,1757010494.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:14.378Z,1757010494.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 271.413513 m,
      bearing: 160.860842 deg,
      approach rate: -0.715349 m/s,
      LOS rate: -0.023902 deg/s,
      cmd heading: 159.514505 deg,
      new cmd heading: 159.496851 deg.

2025-09-04T18:28:14.379Z,1757010494.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783745 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:14.509Z,1757010494.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512115
2025-09-04T18:28:14.761Z,1757010494.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763963
2025-09-04T18:28:14.806Z,1757010494.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:14.813Z,1757010494.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 271.128937 m,
      bearing: 160.851386 deg,
      approach rate: -0.659783 m/s,
      LOS rate: -0.021945 deg/s,
      cmd heading: 159.496856 deg,
      new cmd heading: 159.477926 deg.

2025-09-04T18:28:14.814Z,1757010494.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783415 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:15.013Z,1757010495.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015919
2025-09-04T18:28:15.204Z,1757010495.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:15.206Z,1757010495.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:15.213Z,1757010495.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 270.830536 m,
      bearing: 160.842524 deg,
      approach rate: -0.745486 m/s,
      LOS rate: -0.022165 deg/s,
      cmd heading: 159.477923 deg,
      new cmd heading: 159.460179 deg.

2025-09-04T18:28:15.214Z,1757010495.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.783105 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:15.266Z,1757010495.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268752
2025-09-04T18:28:15.517Z,1757010495.517 [DAT](INFO): DAT read: Rx Time:18:28:14.0617

2025-09-04T18:28:15.517Z,1757010495.517 [DAT](INFO): Rx dataTimestamp_ set to:1757010495.517224
2025-09-04T18:28:15.518Z,1757010495.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520956
2025-09-04T18:28:15.629Z,1757010495.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.80 m.
2025-09-04T18:28:15.632Z,1757010495.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 283.797302 m,
      nav range: 270.520050 m,
      bearing: 160.833305 deg,
      approach rate: -0.733955 m/s,
      LOS rate: -0.021817 deg/s,
      cmd heading: 159.460178 deg,
      new cmd heading: 159.441720 deg.

2025-09-04T18:28:15.633Z,1757010495.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782783 target range: 283.797302 and range: 285.00 m.
2025-09-04T18:28:15.769Z,1757010495.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772190
2025-09-04T18:28:16.043Z,1757010496.043 [DAT](INFO): DAT read: 18:28:14.0617 LVL= 30960, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.04, 2.582, 1.217, 2.663, 1.876, PHS= 0.808,-0.614, 0.743, RAW= 147.7, -13.4, CAL= 148.8, -15.7, ROT=   1.2,  15.7

2025-09-04T18:28:16.044Z,1757010496.044 [DAT](INFO): got valid direction response:
 18:28:14.0617 LVL= 30960, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.04, 2.582, 1.217, 2.663, 1.876, PHS= 0.808,-0.614, 0.743, RAW= 147.7, -13.4, CAL= 148.8, -15.7, ROT=   1.2,  15.7

2025-09-04T18:28:16.045Z,1757010496.045 [DAT](INFO): DAT read: Bearing 302.1,   4.0 (Local)

2025-09-04T18:28:16.045Z,1757010496.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1,   4.0 (Local)

2025-09-04T18:28:16.047Z,1757010496.047 [DAT](INFO): DAT read: Range 11 to 50 : 282.3 m  (Round-trip  376.5 ms) speed  0.3 m/s

2025-09-04T18:28:16.047Z,1757010496.047 [DAT](INFO): DAT read: user:2785>

2025-09-04T18:28:16.048Z,1757010496.048 [DAT](INFO): DAT read: Tx time:18:28:15.1810

2025-09-04T18:28:16.049Z,1757010496.049 [DAT](INFO): Ping request sent.
2025-09-04T18:28:16.049Z,1757010496.049 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:16.049Z,1757010496.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:16.050Z,1757010496.050 [DAT](INFO): direction in FSK: [0.962481,0.020161,-0.270600]
2025-09-04T18:28:16.050Z,1757010496.050 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:16.050Z,1757010496.050 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:16.076Z,1757010496.076 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:16.077Z,1757010496.077 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:16.123Z,1757010496.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.299988 m,
      deltaT: 4.051517 s,
      deltaX: -2.700012 m,
      approachRate: -0.666420 m/s,
      rangeRepo size: 4

2025-09-04T18:28:16.129Z,1757010496.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 281.107574 m,
      bearing: 160.819483 deg,
      lat: 36.779126 deg,
      lon: -121.859274 deg,
      deltaT: 4.051517 s,
      deltaX: -2.689728 m,
      approachRate: -0.663882 m/s,
      posRepo size: 4

2025-09-04T18:28:16.130Z,1757010496.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:16.137Z,1757010496.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 273.849884 m,
      bearing: 160.818911 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021817 deg/s,
      cmd heading: 159.441723 deg,
      new cmd heading: 159.420222 deg.

2025-09-04T18:28:16.138Z,1757010496.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782408 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:16.449Z,1757010496.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:16.452Z,1757010496.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 273.551605 m,
      bearing: 160.809702 deg,
      approach rate: -0.913251 m/s,
      LOS rate: -0.028227 deg/s,
      cmd heading: 159.420222 deg,
      new cmd heading: 159.401783 deg.

2025-09-04T18:28:16.453Z,1757010496.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.782086 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:16.861Z,1757010496.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:16.884Z,1757010496.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 273.260315 m,
      bearing: 160.800688 deg,
      approach rate: -0.706650 m/s,
      LOS rate: -0.021891 deg/s,
      cmd heading: 159.401780 deg,
      new cmd heading: 159.383733 deg.

2025-09-04T18:28:16.886Z,1757010496.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781771 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:17.282Z,1757010497.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:17.285Z,1757010497.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:17.313Z,1757010497.313 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:17.313Z,1757010497.313 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:17.313Z,1757010497.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:17.314Z,1757010497.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 272.959900 m,
      bearing: 160.792083 deg,
      approach rate: -0.709842 m/s,
      LOS rate: -0.020353 deg/s,
      cmd heading: 159.383735 deg,
      new cmd heading: 159.366507 deg.

2025-09-04T18:28:17.325Z,1757010497.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781470 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:17.550Z,1757010497.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501524
2025-09-04T18:28:17.736Z,1757010497.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:17.739Z,1757010497.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 272.638000 m,
      bearing: 160.782875 deg,
      approach rate: -0.712493 m/s,
      LOS rate: -0.020407 deg/s,
      cmd heading: 159.366509 deg,
      new cmd heading: 159.348070 deg.

2025-09-04T18:28:17.740Z,1757010497.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.781148 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:17.801Z,1757010497.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752302
2025-09-04T18:28:18.054Z,1757010498.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005290
2025-09-04T18:28:18.177Z,1757010498.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:18.180Z,1757010498.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 272.330627 m,
      bearing: 160.774857 deg,
      approach rate: -0.697624 m/s,
      LOS rate: -0.018218 deg/s,
      cmd heading: 159.348067 deg,
      new cmd heading: 159.332013 deg.

2025-09-04T18:28:18.185Z,1757010498.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780868 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:18.305Z,1757010498.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256388
2025-09-04T18:28:18.544Z,1757010498.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:18.547Z,1757010498.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 272.047546 m,
      bearing: 160.767456 deg,
      approach rate: -0.770698 m/s,
      LOS rate: -0.020169 deg/s,
      cmd heading: 159.332017 deg,
      new cmd heading: 159.317200 deg.

2025-09-04T18:28:18.559Z,1757010498.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509638
2025-09-04T18:28:18.569Z,1757010498.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780610 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:18.819Z,1757010498.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769911
2025-09-04T18:28:18.951Z,1757010498.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:18.954Z,1757010498.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 271.751007 m,
      bearing: 160.759714 deg,
      approach rate: -0.728331 m/s,
      LOS rate: -0.019036 deg/s,
      cmd heading: 159.317195 deg,
      new cmd heading: 159.301694 deg.

2025-09-04T18:28:18.955Z,1757010498.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780339 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:19.062Z,1757010499.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012995
2025-09-04T18:28:19.313Z,1757010499.313 [DAT](INFO): DAT read: Rx Time:18:28:17.9590

2025-09-04T18:28:19.314Z,1757010499.314 [DAT](INFO): Rx dataTimestamp_ set to:1757010499.313256
2025-09-04T18:28:19.314Z,1757010499.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265430
2025-09-04T18:28:19.405Z,1757010499.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:19.409Z,1757010499.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:19.411Z,1757010499.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 271.418274 m,
      bearing: 160.750995 deg,
      approach rate: -0.728686 m/s,
      LOS rate: -0.019120 deg/s,
      cmd heading: 159.301690 deg,
      new cmd heading: 159.284230 deg.

2025-09-04T18:28:19.413Z,1757010499.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.780034 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:19.567Z,1757010499.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518058
2025-09-04T18:28:19.800Z,1757010499.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.11 m.
2025-09-04T18:28:19.803Z,1757010499.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.107574 m,
      nav range: 271.131317 m,
      bearing: 160.743478 deg,
      approach rate: -0.732066 m/s,
      LOS rate: -0.019197 deg/s,
      cmd heading: 159.284233 deg,
      new cmd heading: 159.269183 deg.

2025-09-04T18:28:19.804Z,1757010499.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779772 target range: 281.107574 and range: 282.30 m.
2025-09-04T18:28:19.835Z,1757010499.835 [DAT](INFO): DAT read: 18:28:17.9590 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 175,-0.20,-1.198,-2.923,-1.309,-1.607, PHS= 0.511,-1.271, 0.254, RAW= 142.3,   6.1, CAL= 142.0,   6.8, ROT=   8.0,  -6.8

2025-09-04T18:28:19.836Z,1757010499.836 [DAT](INFO): got valid direction response:
 18:28:17.9590 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 175,-0.20,-1.198,-2.923,-1.309,-1.607, PHS= 0.511,-1.271, 0.254, RAW= 142.3,   6.1, CAL= 142.0,   6.8, ROT=   8.0,  -6.8

2025-09-04T18:28:19.837Z,1757010499.837 [DAT](INFO): DAT read: Bearing 324.7,  10.5 (Local)

2025-09-04T18:28:19.837Z,1757010499.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.7,  10.5 (Local)

2025-09-04T18:28:19.839Z,1757010499.839 [DAT](INFO): DAT read: Range 11 to 50 : 280.5 m  (Round-trip  374.0 ms) speed  0.3 m/s

2025-09-04T18:28:19.839Z,1757010499.839 [DAT](INFO): DAT read: user:2786>

2025-09-04T18:28:19.840Z,1757010499.840 [DAT](INFO): DAT read: Tx time:18:28:19.0809

2025-09-04T18:28:19.841Z,1757010499.841 [DAT](INFO): Ping request sent.
2025-09-04T18:28:19.841Z,1757010499.841 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:19.841Z,1757010499.841 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:19.842Z,1757010499.842 [DAT](INFO): direction in FSK: [0.983302,0.138194,0.118404]
2025-09-04T18:28:19.842Z,1757010499.842 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:19.844Z,1757010499.844 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:19.847Z,1757010499.847 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:19.847Z,1757010499.847 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:20.240Z,1757010500.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:28:20.322Z,1757010500.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.500000 m,
      deltaT: 3.780046 s,
      deltaX: -1.799988 m,
      approachRate: -0.476181 m/s,
      rangeRepo size: 4

2025-09-04T18:28:20.324Z,1757010500.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 279.315125 m,
      bearing: 168.183126 deg,
      lat: 36.779106 deg,
      lon: -121.859288 deg,
      deltaT: 3.780046 s,
      deltaX: -1.792450 m,
      approachRate: -0.474187 m/s,
      posRepo size: 4

2025-09-04T18:28:20.337Z,1757010500.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:20.340Z,1757010500.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 272.467041 m,
      bearing: 161.127255 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019197 deg/s,
      cmd heading: 159.269179 deg,
      new cmd heading: 159.249166 deg.

2025-09-04T18:28:20.360Z,1757010500.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779422 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:20.706Z,1757010500.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:20.709Z,1757010500.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 272.161072 m,
      bearing: 161.119738 deg,
      approach rate: -0.793938 m/s,
      LOS rate: -0.019529 deg/s,
      cmd heading: 159.249166 deg,
      new cmd heading: 159.234114 deg.

2025-09-04T18:28:20.710Z,1757010500.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.779160 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:21.141Z,1757010501.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:21.144Z,1757010501.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 271.823181 m,
      bearing: 161.112400 deg,
      approach rate: -0.777854 m/s,
      LOS rate: -0.016912 deg/s,
      cmd heading: 159.234113 deg,
      new cmd heading: 159.219419 deg.

2025-09-04T18:28:21.145Z,1757010501.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778903 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:21.244Z,1757010501.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:28:21.517Z,1757010501.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:21.519Z,1757010501.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:21.549Z,1757010501.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 271.545563 m,
      bearing: 161.106358 deg,
      approach rate: -0.733994 m/s,
      LOS rate: -0.015990 deg/s,
      cmd heading: 159.219414 deg,
      new cmd heading: 159.207318 deg.

2025-09-04T18:28:21.551Z,1757010501.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778692 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:21.585Z,1757010501.585 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:21.585Z,1757010501.585 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:21.585Z,1757010501.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:21.841Z,1757010501.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000352
2025-09-04T18:28:21.920Z,1757010501.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:21.923Z,1757010501.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 271.247101 m,
      bearing: 161.099857 deg,
      approach rate: -0.745041 m/s,
      LOS rate: -0.016248 deg/s,
      cmd heading: 159.207325 deg,
      new cmd heading: 159.194307 deg.

2025-09-04T18:28:21.923Z,1757010501.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778465 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:22.094Z,1757010502.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252857
2025-09-04T18:28:22.345Z,1757010502.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504240
2025-09-04T18:28:22.353Z,1757010502.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:22.357Z,1757010502.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 270.935699 m,
      bearing: 161.092624 deg,
      approach rate: -0.717827 m/s,
      LOS rate: -0.016692 deg/s,
      cmd heading: 159.194306 deg,
      new cmd heading: 159.179824 deg.

2025-09-04T18:28:22.358Z,1757010502.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778212 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:22.598Z,1757010502.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757054
2025-09-04T18:28:22.714Z,1757010502.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:22.717Z,1757010502.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 270.674286 m,
      bearing: 161.086560 deg,
      approach rate: -0.724892 m/s,
      LOS rate: -0.016831 deg/s,
      cmd heading: 159.179826 deg,
      new cmd heading: 159.167687 deg.

2025-09-04T18:28:22.718Z,1757010502.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.778000 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:22.849Z,1757010502.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008269
2025-09-04T18:28:23.103Z,1757010503.103 [DAT](INFO): DAT read: Rx Time:18:28:21.8551

2025-09-04T18:28:23.103Z,1757010503.103 [DAT](INFO): Rx dataTimestamp_ set to:1757010503.102800
2025-09-04T18:28:23.104Z,1757010503.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262784
2025-09-04T18:28:23.209Z,1757010503.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:23.212Z,1757010503.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 270.320129 m,
      bearing: 161.078555 deg,
      approach rate: -0.715647 m/s,
      LOS rate: -0.016197 deg/s,
      cmd heading: 159.167682 deg,
      new cmd heading: 159.151652 deg.

2025-09-04T18:28:23.217Z,1757010503.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777720 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:23.353Z,1757010503.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512220
2025-09-04T18:28:23.545Z,1757010503.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:23.551Z,1757010503.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:23.556Z,1757010503.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 270.072327 m,
      bearing: 161.072967 deg,
      approach rate: -0.725870 m/s,
      LOS rate: -0.016385 deg/s,
      cmd heading: 159.151645 deg,
      new cmd heading: 159.140458 deg.

2025-09-04T18:28:23.558Z,1757010503.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777525 target range: 279.315125 and range: 280.50 m.
2025-09-04T18:28:23.609Z,1757010503.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767527
2025-09-04T18:28:23.879Z,1757010503.879 [DAT](INFO): DAT read: 18:28:21.8551 LVL= 31792, 30497, 29986, 31715, AGC= 66, IDX= 394, 0.16,-2.465, 2.431,-2.375, 2.921, PHS= 0.999,-0.445, 0.943, RAW= 148.0, AL= 14.7, ROT=   0.3,  22.ng 294.5,   3.1 (Local)

2025-09-04T18:28:23.879Z,1757010503.879 [DAT](INFO): Local bearing/azimuth received:
 18:28:21.8551 LVL= 31792, 30497, 29986, 31715, AGC= 66, IDX= 394, 0.16,-2.465, 2.431,-2.375, 2.921, PHS= 0.999,-0.445, 0.943, RAW= 148.0, AL= 14.7, ROT=   0.3,  22.ng 294.5,   3.1 (Local)

2025-09-04T18:28:23.892Z,1757010503.892 [DAT](INFO): DAT read: Range 11 to 50 : 277.5 m  (Round-trip  370.1 ms) speed  0.6 m/s

2025-09-04T18:28:23.893Z,1757010503.893 [DAT](INFO): DAT read: user:2787>

2025-09-04T18:28:23.894Z,1757010503.894 [DAT](INFO): DAT read: Tx time:18:28:22.9809

2025-09-04T18:28:23.894Z,1757010503.894 [DAT](INFO): Ping request sent.
2025-09-04T18:28:23.894Z,1757010503.894 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:23.895Z,1757010503.895 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:28:23.895Z,1757010503.895 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:23.895Z,1757010503.895 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:23.963Z,1757010503.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 277.500000 m,
      deltaT: 4.040703 s,
      deltaX: -3.000000 m,
      approachRate: -0.742445 m/s,
      rangeRepo size: 4

2025-09-04T18:28:23.980Z,1757010503.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:23.984Z,1757010503.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 269.776428 m,
      bearing: 161.066301 deg,
      approach rate: -0.718144 m/s,
      LOS rate: -0.016196 deg/s,
      cmd heading: 159.140457 deg,
      new cmd heading: 159.127111 deg.

2025-09-04T18:28:23.998Z,1757010503.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777292 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:24.427Z,1757010504.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:24.430Z,1757010504.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 269.427124 m,
      bearing: 161.058377 deg,
      approach rate: -0.752034 m/s,
      LOS rate: -0.017082 deg/s,
      cmd heading: 159.127111 deg,
      new cmd heading: 159.111243 deg.

2025-09-04T18:28:24.431Z,1757010504.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777015 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:24.801Z,1757010504.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:24.805Z,1757010504.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 269.149597 m,
      bearing: 161.052092 deg,
      approach rate: -0.741987 m/s,
      LOS rate: -0.016822 deg/s,
      cmd heading: 159.111237 deg,
      new cmd heading: 159.098654 deg.

2025-09-04T18:28:24.806Z,1757010504.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776795 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:25.233Z,1757010505.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:25.236Z,1757010505.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 268.845642 m,
      bearing: 161.044254 deg,
      approach rate: -0.703248 m/s,
      LOS rate: -0.018155 deg/s,
      cmd heading: 159.098656 deg,
      new cmd heading: 159.082962 deg.

2025-09-04T18:28:25.237Z,1757010505.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776521 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:25.610Z,1757010505.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:25.613Z,1757010505.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:25.616Z,1757010505.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 268.578400 m,
      bearing: 161.037427 deg,
      approach rate: -0.703171 m/s,
      LOS rate: -0.017980 deg/s,
      cmd heading: 159.082960 deg,
      new cmd heading: 159.069293 deg.

2025-09-04T18:28:25.617Z,1757010505.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776283 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:25.621Z,1757010505.621 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:25.621Z,1757010505.621 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:25.621Z,1757010505.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:25.874Z,1757010505.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979504
2025-09-04T18:28:26.006Z,1757010506.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:26.009Z,1757010506.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 268.301300 m,
      bearing: 161.030345 deg,
      approach rate: -0.705553 m/s,
      LOS rate: -0.018049 deg/s,
      cmd heading: 159.069300 deg,
      new cmd heading: 159.055123 deg.

2025-09-04T18:28:26.010Z,1757010506.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.776036 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:26.129Z,1757010506.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234216
2025-09-04T18:28:26.377Z,1757010506.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482630
2025-09-04T18:28:26.483Z,1757010506.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:26.496Z,1757010506.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 267.972717 m,
      bearing: 161.022365 deg,
      approach rate: -0.688630 m/s,
      LOS rate: -0.016747 deg/s,
      cmd heading: 159.055121 deg,
      new cmd heading: 159.039139 deg.

2025-09-04T18:28:26.498Z,1757010506.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.775757 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:26.630Z,1757010506.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735980
2025-09-04T18:28:26.848Z,1757010506.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:26.851Z,1757010506.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 267.694580 m,
      bearing: 161.015635 deg,
      approach rate: -0.762366 m/s,
      LOS rate: -0.018466 deg/s,
      cmd heading: 159.039138 deg,
      new cmd heading: 159.025664 deg.

2025-09-04T18:28:26.852Z,1757010506.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.775522 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:26.882Z,1757010506.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987417
2025-09-04T18:28:27.135Z,1757010507.135 [DAT](INFO): DAT read: Rx Time:18:28:25.7522

2025-09-04T18:28:27.137Z,1757010507.137 [DAT](INFO): Rx dataTimestamp_ set to:1757010507.136274
2025-09-04T18:28:27.139Z,1757010507.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244417
2025-09-04T18:28:27.287Z,1757010507.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.32 m.
2025-09-04T18:28:27.295Z,1757010507.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.315125 m,
      nav range: 267.399261 m,
      bearing: 161.007225 deg,
      approach rate: -0.671716 m/s,
      LOS rate: -0.019148 deg/s,
      cmd heading: 159.025669 deg,
      new cmd heading: 159.008832 deg.

2025-09-04T18:28:27.296Z,1757010507.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.775228 target range: 279.315125 and range: 277.50 m.
2025-09-04T18:28:27.386Z,1757010507.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491387
2025-09-04T18:28:27.643Z,1757010507.643 [DAT](INFO): DAT read: 18:28:25.7522 LVL= 22464, 27233, 26578, 28387, AGC= 67, IDX= 414, 0.20,-0.256,-1.594,-0.205,-0.894, PHS= 0.740,-0.655, 0.645, RAW= 146.5, -10.8, CAL= 147.1, -12.8, ROT=   2.9,  12.8

2025-09-04T18:28:27.644Z,1757010507.644 [DAT](INFO): got valid direction response:
 18:28:25.7522 LVL= 22464, 27233, 26578, 28387, AGC= 67, IDX= 414, 0.20,-0.256,-1.594,-0.205,-0.894, PHS= 0.740,-0.655, 0.645, RAW= 146.5, -10.8, CAL= 147.1, -12.8, ROT=   2.9,  12.8

2025-09-04T18:28:27.645Z,1757010507.645 [DAT](INFO): DAT read: Bearing 304.3,   5.3 (Local)

2025-09-04T18:28:27.645Z,1757010507.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.3,   5.3 (Local)

2025-09-04T18:28:27.647Z,1757010507.647 [DAT](INFO): DAT read: Range 11 to 50 : 275.3 m  (Round-trip  367.1 ms) speed  0.8 m/s

2025-09-04T18:28:27.647Z,1757010507.647 [DAT](INFO): DAT read: user:2788>

2025-09-04T18:28:27.669Z,1757010507.669 [DAT](INFO): DAT read: Tx time:18:28:26.8809

2025-09-04T18:28:27.669Z,1757010507.669 [DAT](INFO): Ping request sent.
2025-09-04T18:28:27.669Z,1757010507.669 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:27.670Z,1757010507.670 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:27.671Z,1757010507.671 [DAT](INFO): direction in FSK: [0.973901,0.049336,-0.221548]
2025-09-04T18:28:27.671Z,1757010507.671 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:27.671Z,1757010507.671 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:27.674Z,1757010507.674 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:27.674Z,1757010507.674 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:27.756Z,1757010507.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.299988 m,
      deltaT: 3.779275 s,
      deltaX: -2.200012 m,
      approachRate: -0.582125 m/s,
      rangeRepo size: 4

2025-09-04T18:28:27.758Z,1757010507.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 274.130554 m,
      bearing: 162.095861 deg,
      lat: 36.779090 deg,
      lon: -121.859334 deg,
      deltaT: 7.819978 s,
      deltaX: -5.184570 m,
      approachRate: -0.662990 m/s,
      posRepo size: 4

2025-09-04T18:28:27.759Z,1757010507.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:27.766Z,1757010507.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 267.480164 m,
      bearing: 161.952236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019148 deg/s,
      cmd heading: 159.008826 deg,
      new cmd heading: 158.991067 deg.

2025-09-04T18:28:27.767Z,1757010507.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774918 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:28.179Z,1757010508.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:28.197Z,1757010508.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:28.205Z,1757010508.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 267.165497 m,
      bearing: 161.944454 deg,
      approach rate: -0.705797 m/s,
      LOS rate: -0.017475 deg/s,
      cmd heading: 158.991067 deg,
      new cmd heading: 158.975485 deg.

2025-09-04T18:28:28.206Z,1757010508.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774646 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:28.393Z,1757010508.393 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:28.393Z,1757010508.393 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:28.393Z,1757010508.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:28.604Z,1757010508.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:28.607Z,1757010508.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 266.866638 m,
      bearing: 161.937057 deg,
      approach rate: -0.734134 m/s,
      LOS rate: -0.018192 deg/s,
      cmd heading: 158.975481 deg,
      new cmd heading: 158.960669 deg.

2025-09-04T18:28:28.608Z,1757010508.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774387 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:28.646Z,1757010508.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976635
2025-09-04T18:28:28.897Z,1757010508.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227659
2025-09-04T18:28:28.999Z,1757010508.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:29.006Z,1757010509.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 266.598663 m,
      bearing: 161.930441 deg,
      approach rate: -0.677803 m/s,
      LOS rate: -0.016751 deg/s,
      cmd heading: 158.960673 deg,
      new cmd heading: 158.947428 deg.

2025-09-04T18:28:29.007Z,1757010509.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.774156 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:29.152Z,1757010509.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481756
2025-09-04T18:28:29.384Z,1757010509.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:29.387Z,1757010509.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 266.313538 m,
      bearing: 161.923495 deg,
      approach rate: -0.741912 m/s,
      LOS rate: -0.018093 deg/s,
      cmd heading: 158.947422 deg,
      new cmd heading: 158.933516 deg.

2025-09-04T18:28:29.388Z,1757010509.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773913 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:29.401Z,1757010509.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731679
2025-09-04T18:28:29.653Z,1757010509.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983703
2025-09-04T18:28:29.759Z,1757010509.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:29.762Z,1757010509.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 266.044556 m,
      bearing: 161.916926 deg,
      approach rate: -0.716796 m/s,
      LOS rate: -0.017523 deg/s,
      cmd heading: 158.933516 deg,
      new cmd heading: 158.920365 deg.

2025-09-04T18:28:29.763Z,1757010509.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773684 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:29.905Z,1757010509.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235817
2025-09-04T18:28:30.161Z,1757010510.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491088
2025-09-04T18:28:30.242Z,1757010510.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:30.245Z,1757010510.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:30.249Z,1757010510.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 265.691650 m,
      bearing: 161.908609 deg,
      approach rate: -0.725792 m/s,
      LOS rate: -0.017127 deg/s,
      cmd heading: 158.920361 deg,
      new cmd heading: 158.903706 deg.

2025-09-04T18:28:30.250Z,1757010510.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773393 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:30.409Z,1757010510.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739582
2025-09-04T18:28:30.590Z,1757010510.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:30.593Z,1757010510.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 265.440186 m,
      bearing: 161.902694 deg,
      approach rate: -0.730293 m/s,
      LOS rate: -0.017195 deg/s,
      cmd heading: 158.903709 deg,
      new cmd heading: 158.891867 deg.

2025-09-04T18:28:30.594Z,1757010510.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.773186 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:30.662Z,1757010510.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993092
2025-09-04T18:28:30.913Z,1757010510.913 [DAT](INFO): DAT read: Rx Time:18:28:29.6484

2025-09-04T18:28:30.914Z,1757010510.914 [DAT](INFO): Rx dataTimestamp_ set to:1757010510.913473
2025-09-04T18:28:30.914Z,1757010510.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244909
2025-09-04T18:28:30.999Z,1757010510.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:31.001Z,1757010511.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 265.150208 m,
      bearing: 161.895853 deg,
      approach rate: -0.709088 m/s,
      LOS rate: -0.016747 deg/s,
      cmd heading: 158.891865 deg,
      new cmd heading: 158.878168 deg.

2025-09-04T18:28:31.002Z,1757010511.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772947 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:31.168Z,1757010511.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497753
2025-09-04T18:28:31.420Z,1757010511.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750316
2025-09-04T18:28:31.460Z,1757010511.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.13 m.
2025-09-04T18:28:31.463Z,1757010511.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.130554 m,
      nav range: 264.857361 m,
      bearing: 161.888956 deg,
      approach rate: -0.641427 m/s,
      LOS rate: -0.015123 deg/s,
      cmd heading: 158.878164 deg,
      new cmd heading: 158.864355 deg.

2025-09-04T18:28:31.469Z,1757010511.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772706 target range: 274.130554 and range: 275.30 m.
2025-09-04T18:28:31.675Z,1757010511.675 [DAT](INFO): DAT read: 18:28:29.6484 LVL= 32752, 32753, 30834, 28371, AGC= 66, IDX= 405, 0.16, 1.651, 0.157, 1.774, 0.739, PHS= 1.014,-0.537, 0.991, RAW= 149.3, -18.6, CAL= 151.2, -21.0, ROT= 358.8,  21.0

2025-09-04T18:28:31.676Z,1757010511.676 [DAT](INFO): got valid direction response:
 18:28:29.6484 LVL= 32752, 32753, 30834, 28371, AGC= 66, IDX= 405, 0.16, 1.651, 0.157, 1.774, 0.739, PHS= 1.014,-0.537, 0.991, RAW= 149.3, -18.6, CAL= 151.2, -21.0, ROT= 358.8,  21.0

2025-09-04T18:28:31.677Z,1757010511.677 [DAT](INFO): DAT read: Bearing 295.8,   1.3 (Local)

2025-09-04T18:28:31.678Z,1757010511.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.8,   1.3 (Local)

2025-09-04T18:28:31.679Z,1757010511.679 [DAT](INFO): DAT read: Range 11 to 50 : 272.4 m  (Round-trip  363.3 ms) speed  0.3 m/s

2025-09-04T18:28:31.702Z,1757010511.702 [DAT](INFO): DAT read: user:2789>

2025-09-04T18:28:31.706Z,1757010511.706 [DAT](INFO): DAT read: Tx time:18:28:30.7809

2025-09-04T18:28:31.708Z,1757010511.708 [DAT](INFO): Ping request sent.
2025-09-04T18:28:31.720Z,1757010511.720 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:31.721Z,1757010511.721 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:31.722Z,1757010511.722 [DAT](INFO): direction in FSK: [0.933376,-0.019551,-0.358368]
2025-09-04T18:28:31.723Z,1757010511.723 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:31.723Z,1757010511.723 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:31.735Z,1757010511.735 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:31.744Z,1757010511.744 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:31.850Z,1757010511.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.399994 m,
      deltaT: 4.031984 s,
      deltaX: -2.899994 m,
      approachRate: -0.719247 m/s,
      rangeRepo size: 4

2025-09-04T18:28:31.857Z,1757010511.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.229156 m,
      bearing: 157.757276 deg,
      lat: 36.779090 deg,
      lon: -121.859288 deg,
      deltaT: 4.031984 s,
      deltaX: -2.901398 m,
      approachRate: -0.719596 m/s,
      posRepo size: 4

2025-09-04T18:28:31.857Z,1757010511.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:31.863Z,1757010511.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 265.845428 m,
      bearing: 161.043559 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015123 deg/s,
      cmd heading: 158.864353 deg,
      new cmd heading: 158.852418 deg.

2025-09-04T18:28:31.864Z,1757010511.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772498 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:32.270Z,1757010512.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:32.272Z,1757010512.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:32.274Z,1757010512.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 265.528412 m,
      bearing: 161.035894 deg,
      approach rate: -0.751313 m/s,
      LOS rate: -0.018185 deg/s,
      cmd heading: 158.852414 deg,
      new cmd heading: 158.837068 deg.

2025-09-04T18:28:32.275Z,1757010512.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.772230 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:32.425Z,1757010512.425 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:32.425Z,1757010512.425 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:32.425Z,1757010512.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:32.677Z,1757010512.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969664
2025-09-04T18:28:32.685Z,1757010512.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:32.696Z,1757010512.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 265.243866 m,
      bearing: 161.029024 deg,
      approach rate: -0.687939 m/s,
      LOS rate: -0.016627 deg/s,
      cmd heading: 158.837074 deg,
      new cmd heading: 158.823319 deg.

2025-09-04T18:28:32.697Z,1757010512.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771990 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:32.930Z,1757010512.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222311
2025-09-04T18:28:33.066Z,1757010513.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:33.069Z,1757010513.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 264.950012 m,
      bearing: 161.021940 deg,
      approach rate: -0.771411 m/s,
      LOS rate: -0.018617 deg/s,
      cmd heading: 158.823318 deg,
      new cmd heading: 158.809134 deg.

2025-09-04T18:28:33.070Z,1757010513.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771742 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:33.183Z,1757010513.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475705
2025-09-04T18:28:33.433Z,1757010513.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725708
2025-09-04T18:28:33.510Z,1757010513.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:33.517Z,1757010513.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 264.631805 m,
      bearing: 161.013083 deg,
      approach rate: -0.716304 m/s,
      LOS rate: -0.019963 deg/s,
      cmd heading: 158.809138 deg,
      new cmd heading: 158.791402 deg.

2025-09-04T18:28:33.518Z,1757010513.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771433 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:33.685Z,1757010513.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977566
2025-09-04T18:28:33.875Z,1757010513.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:33.882Z,1757010513.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 264.357849 m,
      bearing: 161.005443 deg,
      approach rate: -0.751613 m/s,
      LOS rate: -0.020982 deg/s,
      cmd heading: 158.791407 deg,
      new cmd heading: 158.776111 deg.

2025-09-04T18:28:33.883Z,1757010513.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.771166 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:33.938Z,1757010513.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230579
2025-09-04T18:28:34.192Z,1757010514.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484120
2025-09-04T18:28:34.323Z,1757010514.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:34.326Z,1757010514.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:34.345Z,1757010514.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 264.018463 m,
      bearing: 160.997809 deg,
      approach rate: -0.752981 m/s,
      LOS rate: -0.016958 deg/s,
      cmd heading: 158.776107 deg,
      new cmd heading: 158.760821 deg.

2025-09-04T18:28:34.346Z,1757010514.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.770899 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:34.442Z,1757010514.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734227
2025-09-04T18:28:34.698Z,1757010514.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990424
2025-09-04T18:28:34.721Z,1757010514.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:34.724Z,1757010514.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 263.730865 m,
      bearing: 160.991332 deg,
      approach rate: -0.726965 m/s,
      LOS rate: -0.016390 deg/s,
      cmd heading: 158.760821 deg,
      new cmd heading: 158.747853 deg.

2025-09-04T18:28:34.725Z,1757010514.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.770673 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:34.945Z,1757010514.945 [DAT](INFO): DAT read: Rx Time:18:28:33.5459

2025-09-04T18:28:34.946Z,1757010514.946 [DAT](INFO): Rx dataTimestamp_ set to:1757010514.945236
2025-09-04T18:28:34.946Z,1757010514.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238653
2025-09-04T18:28:35.151Z,1757010515.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.23 m.
2025-09-04T18:28:35.154Z,1757010515.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.229156 m,
      nav range: 263.418976 m,
      bearing: 160.984279 deg,
      approach rate: -0.725762 m/s,
      LOS rate: -0.016432 deg/s,
      cmd heading: 158.747858 deg,
      new cmd heading: 158.733734 deg.

2025-09-04T18:28:35.155Z,1757010515.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.770426 target range: 271.229156 and range: 272.40 m.
2025-09-04T18:28:35.197Z,1757010515.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489517
2025-09-04T18:28:35.455Z,1757010515.455 [DAT](INFO): DAT read: 18:28:33.5459 LVL= 31792, 32753, 32114, 32755, AGC= 70, IDX= 412,-0.38,-2.765, 2.193,-2.646, 2.523, PHS= 1.097,-0.285, 1.071, RAW= 149.1, -25.9, CAL= 150.6, -27.3, ROT= 359.4,  27.3

2025-09-04T18:28:35.456Z,1757010515.456 [DAT](INFO): got valid direction response:
 18:28:33.5459 LVL= 31792, 32753, 32114, 32755, AGC= 70, IDX= 412,-0.38,-2.765, 2.193,-2.646, 2.523, PHS= 1.097,-0.285, 1.071, RAW= 149.1, -25.9, CAL= 150.6, -27.3, ROT= 359.4,  27.3

2025-09-04T18:28:35.457Z,1757010515.457 [DAT](INFO): DAT read: Bearing 289.1,   1.8 (Local)

2025-09-04T18:28:35.457Z,1757010515.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.1,   1.8 (Local)

2025-09-04T18:28:35.459Z,1757010515.459 [DAT](INFO): DAT read: Range 11 to 50 : 270.6 m  (Round-trip  360.9 ms) speed  0.4 m/s

2025-09-04T18:28:35.459Z,1757010515.459 [DAT](INFO): DAT read: user:2790>

2025-09-04T18:28:35.473Z,1757010515.473 [DAT](INFO): DAT read: Tx time:18:28:34.6309

2025-09-04T18:28:35.473Z,1757010515.473 [DAT](INFO): Ping request sent.
2025-09-04T18:28:35.473Z,1757010515.473 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:35.474Z,1757010515.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:35.475Z,1757010515.475 [DAT](INFO): direction in FSK: [0.888569,-0.009306,-0.458650]
2025-09-04T18:28:35.475Z,1757010515.475 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:35.476Z,1757010515.476 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:35.501Z,1757010515.501 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:35.502Z,1757010515.502 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:35.727Z,1757010515.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.600006 m,
      deltaT: 3.780148 s,
      deltaX: -1.799988 m,
      approachRate: -0.476169 m/s,
      rangeRepo size: 4

2025-09-04T18:28:35.734Z,1757010515.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.437042 m,
      bearing: 158.033948 deg,
      lat: 36.779126 deg,
      lon: -121.859274 deg,
      deltaT: 3.780148 s,
      deltaX: -1.792114 m,
      approachRate: -0.474086 m/s,
      posRepo size: 4

2025-09-04T18:28:35.734Z,1757010515.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:35.741Z,1757010515.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 259.644287 m,
      bearing: 160.434406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016432 deg/s,
      cmd heading: 158.733733 deg,
      new cmd heading: 158.714812 deg.

2025-09-04T18:28:35.742Z,1757010515.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.770096 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:36.127Z,1757010516.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:36.134Z,1757010516.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 259.360291 m,
      bearing: 160.426920 deg,
      approach rate: -0.709722 m/s,
      LOS rate: -0.018728 deg/s,
      cmd heading: 158.714813 deg,
      new cmd heading: 158.699825 deg.

2025-09-04T18:28:36.135Z,1757010516.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769835 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:36.515Z,1757010516.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:36.518Z,1757010516.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:36.538Z,1757010516.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 259.055176 m,
      bearing: 160.419470 deg,
      approach rate: -0.781168 m/s,
      LOS rate: -0.019099 deg/s,
      cmd heading: 158.699828 deg,
      new cmd heading: 158.684909 deg.

2025-09-04T18:28:36.540Z,1757010516.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769574 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:36.709Z,1757010516.709 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:36.709Z,1757010516.709 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:36.709Z,1757010516.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:36.877Z,1757010516.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:36.880Z,1757010516.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 258.789246 m,
      bearing: 160.412975 deg,
      approach rate: -0.738999 m/s,
      LOS rate: -0.018066 deg/s,
      cmd heading: 158.684911 deg,
      new cmd heading: 158.671909 deg.

2025-09-04T18:28:36.881Z,1757010516.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769347 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:36.961Z,1757010516.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487769
2025-09-04T18:28:37.213Z,1757010517.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739778
2025-09-04T18:28:37.356Z,1757010517.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:37.359Z,1757010517.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 258.449921 m,
      bearing: 160.403805 deg,
      approach rate: -0.708825 m/s,
      LOS rate: -0.019181 deg/s,
      cmd heading: 158.671906 deg,
      new cmd heading: 158.653542 deg.

2025-09-04T18:28:37.361Z,1757010517.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.769027 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:37.466Z,1757010517.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992176
2025-09-04T18:28:37.685Z,1757010517.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:37.688Z,1757010517.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 258.216309 m,
      bearing: 160.397504 deg,
      approach rate: -0.710246 m/s,
      LOS rate: -0.019176 deg/s,
      cmd heading: 158.653546 deg,
      new cmd heading: 158.640932 deg.

2025-09-04T18:28:37.690Z,1757010517.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768807 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:37.717Z,1757010517.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244001
2025-09-04T18:28:37.969Z,1757010517.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495741
2025-09-04T18:28:38.095Z,1757010518.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:38.098Z,1757010518.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 257.933044 m,
      bearing: 160.389858 deg,
      approach rate: -0.690605 m/s,
      LOS rate: -0.018661 deg/s,
      cmd heading: 158.640938 deg,
      new cmd heading: 158.625630 deg.

2025-09-04T18:28:38.099Z,1757010518.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768539 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:38.221Z,1757010518.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747666
2025-09-04T18:28:38.474Z,1757010518.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000171
2025-09-04T18:28:38.571Z,1757010518.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:38.578Z,1757010518.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:38.585Z,1757010518.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 257.596863 m,
      bearing: 160.380905 deg,
      approach rate: -0.696560 m/s,
      LOS rate: -0.018574 deg/s,
      cmd heading: 158.625625 deg,
      new cmd heading: 158.607696 deg.

2025-09-04T18:28:38.586Z,1757010518.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.768227 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:38.726Z,1757010518.726 [DAT](INFO): DAT read: Rx Time:18:28:37.3927

2025-09-04T18:28:38.726Z,1757010518.726 [DAT](INFO): Rx dataTimestamp_ set to:1757010518.726030
2025-09-04T18:28:38.727Z,1757010518.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253517
2025-09-04T18:28:38.971Z,1757010518.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.44 m.
2025-09-04T18:28:38.974Z,1757010518.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.437042 m,
      nav range: 257.302887 m,
      bearing: 160.373082 deg,
      approach rate: -0.747836 m/s,
      LOS rate: -0.019924 deg/s,
      cmd heading: 158.607702 deg,
      new cmd heading: 158.592038 deg.

2025-09-04T18:28:38.975Z,1757010518.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.767953 target range: 269.437042 and range: 270.60 m.
2025-09-04T18:28:38.977Z,1757010518.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503748
2025-09-04T18:28:39.235Z,1757010519.235 [DAT](INFO): DAT read: 18:28:37.3927 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.38,-0.772,-2.085,-0.655,-1.573, PHS= 0.903,-0.467, 0.873, RAW= 148.9, -18.9, CAL= 150.8, -21.3, ROT= 359.2,  21.3

2025-09-04T18:28:39.237Z,1757010519.237 [DAT](INFO): got valid direction response:
 18:28:37.3927 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.38,-0.772,-2.085,-0.655,-1.573, PHS= 0.903,-0.467, 0.873, RAW= 148.9, -18.9, CAL= 150.8, -21.3, ROT= 359.2,  21.3

2025-09-04T18:28:39.238Z,1757010519.238 [DAT](INFO): DAT read: Bearing 294.9,   0.9 (Local)

2025-09-04T18:28:39.238Z,1757010519.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.9,   0.9 (Local)

2025-09-04T18:28:39.245Z,1757010519.245 [DAT](INFO): DAT read: Range 11 to 50 : 268.2 m  (Round-trip  357.7 ms) speed  0.5 m/s

2025-09-04T18:28:39.246Z,1757010519.246 [DAT](INFO): DAT read: user:2791>

2025-09-04T18:28:39.247Z,1757010519.247 [DAT](INFO): DAT read: Tx time:18:28:38.4809

2025-09-04T18:28:39.247Z,1757010519.247 [DAT](INFO): Ping request sent.
2025-09-04T18:28:39.247Z,1757010519.247 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:39.248Z,1757010519.248 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:39.249Z,1757010519.249 [DAT](INFO): direction in FSK: [0.931600,-0.013008,-0.363251]
2025-09-04T18:28:39.249Z,1757010519.249 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:39.250Z,1757010519.250 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:39.253Z,1757010519.253 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:39.253Z,1757010519.253 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:39.462Z,1757010519.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.200012 m,
      deltaT: 3.780221 s,
      deltaX: -2.399994 m,
      approachRate: -0.634882 m/s,
      rangeRepo size: 4

2025-09-04T18:28:39.468Z,1757010519.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.047363 m,
      bearing: 157.916845 deg,
      lat: 36.779209 deg,
      lon: -121.859226 deg,
      deltaT: 3.780221 s,
      deltaX: -2.389679 m,
      approachRate: -0.632153 m/s,
      posRepo size: 4

2025-09-04T18:28:39.469Z,1757010519.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:39.478Z,1757010519.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 249.818161 m,
      bearing: 158.733404 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019924 deg/s,
      cmd heading: 158.592034 deg,
      new cmd heading: 158.572486 deg.

2025-09-04T18:28:39.479Z,1757010519.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.767612 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:39.861Z,1757010519.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:39.863Z,1757010519.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 249.539001 m,
      bearing: 158.723033 deg,
      approach rate: -0.699003 m/s,
      LOS rate: -0.025998 deg/s,
      cmd heading: 158.572486 deg,
      new cmd heading: 158.551720 deg.

2025-09-04T18:28:39.873Z,1757010519.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.767250 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:40.191Z,1757010520.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:40.194Z,1757010520.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 249.288971 m,
      bearing: 158.713741 deg,
      approach rate: -0.757037 m/s,
      LOS rate: -0.028162 deg/s,
      cmd heading: 158.551722 deg,
      new cmd heading: 158.533120 deg.

2025-09-04T18:28:40.196Z,1757010520.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766925 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:40.620Z,1757010520.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:40.622Z,1757010520.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:40.626Z,1757010520.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 248.992874 m,
      bearing: 158.701977 deg,
      approach rate: -0.686851 m/s,
      LOS rate: -0.027321 deg/s,
      cmd heading: 158.533117 deg,
      new cmd heading: 158.509561 deg.

2025-09-04T18:28:40.627Z,1757010520.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766514 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:40.742Z,1757010520.742 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:40.742Z,1757010520.742 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:40.742Z,1757010520.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:40.993Z,1757010520.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745741
2025-09-04T18:28:41.058Z,1757010521.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:41.061Z,1757010521.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 248.734024 m,
      bearing: 158.691680 deg,
      approach rate: -0.593856 m/s,
      LOS rate: -0.023649 deg/s,
      cmd heading: 158.509566 deg,
      new cmd heading: 158.488950 deg.

2025-09-04T18:28:41.062Z,1757010521.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.766154 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:41.245Z,1757010521.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997607
2025-09-04T18:28:41.437Z,1757010521.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:41.440Z,1757010521.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 248.426575 m,
      bearing: 158.679052 deg,
      approach rate: -0.811101 m/s,
      LOS rate: -0.033355 deg/s,
      cmd heading: 158.488953 deg,
      new cmd heading: 158.463666 deg.

2025-09-04T18:28:41.441Z,1757010521.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.765713 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:41.498Z,1757010521.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250315
2025-09-04T18:28:41.749Z,1757010521.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501889
2025-09-04T18:28:41.811Z,1757010521.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:41.815Z,1757010521.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 248.165695 m,
      bearing: 158.668330 deg,
      approach rate: -0.697487 m/s,
      LOS rate: -0.028697 deg/s,
      cmd heading: 158.463667 deg,
      new cmd heading: 158.442200 deg.

2025-09-04T18:28:41.832Z,1757010521.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.765338 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:42.001Z,1757010522.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753568
2025-09-04T18:28:42.217Z,1757010522.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:42.219Z,1757010522.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 247.880844 m,
      bearing: 158.656636 deg,
      approach rate: -0.702100 m/s,
      LOS rate: -0.028857 deg/s,
      cmd heading: 158.442193 deg,
      new cmd heading: 158.418778 deg.

2025-09-04T18:28:42.221Z,1757010522.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.764929 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:42.253Z,1757010522.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005913
2025-09-04T18:28:42.506Z,1757010522.506 [DAT](INFO): DAT read: Rx Time:18:28:41.2396

2025-09-04T18:28:42.507Z,1757010522.507 [DAT](INFO): Rx dataTimestamp_ set to:1757010522.506446
2025-09-04T18:28:42.509Z,1757010522.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260940
2025-09-04T18:28:42.659Z,1757010522.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:42.661Z,1757010522.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:42.664Z,1757010522.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 247.571747 m,
      bearing: 158.643083 deg,
      approach rate: -0.696076 m/s,
      LOS rate: -0.030558 deg/s,
      cmd heading: 158.418779 deg,
      new cmd heading: 158.391640 deg.

2025-09-04T18:28:42.665Z,1757010522.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.764456 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:42.757Z,1757010522.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509810
2025-09-04T18:28:43.013Z,1757010523.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765230
2025-09-04T18:28:43.095Z,1757010523.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-09-04T18:28:43.098Z,1757010523.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.047363 m,
      nav range: 247.268448 m,
      bearing: 158.629780 deg,
      approach rate: -0.698024 m/s,
      LOS rate: -0.030655 deg/s,
      cmd heading: 158.391636 deg,
      new cmd heading: 158.364996 deg.

2025-09-04T18:28:43.099Z,1757010523.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763991 target range: 267.047363 and range: 268.20 m.
2025-09-04T18:28:43.267Z,1757010523.267 [DAT](INFO): DAT read: 18:28:41.2396 LVL= 31760, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.09, 0.576,-0.824, 0.658,-0.300, PHS= 0.978,-0.479, 0.914, RAW= 147.8, -19.3, CAL= 149.4, -21.8, ROT=   0.6,  21.8

2025-09-04T18:28:43.268Z,1757010523.268 [DAT](INFO): got valid direction response:
 18:28:41.2396 LVL= 31760, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.09, 0.576,-0.824, 0.658,-0.300, PHS= 0.978,-0.479, 0.914, RAW= 147.8, -19.3, CAL= 149.4, -21.8, ROT=   0.6,  21.8

2025-09-04T18:28:43.269Z,1757010523.269 [DAT](INFO): DAT read: Bearing 294.5,   1.6 (Local)

2025-09-04T18:28:43.269Z,1757010523.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.5,   1.6 (Local)

2025-09-04T18:28:43.271Z,1757010523.271 [DAT](INFO): DAT read: Range 11 to 50 : 265.9 m  (Round-trip  354.6 ms) speed  0.6 m/s

2025-09-04T18:28:43.271Z,1757010523.271 [DAT](INFO): DAT read: user:2792>

2025-09-04T18:28:43.272Z,1757010523.272 [DAT](INFO): DAT read: Tx time:18:28:42.3308

2025-09-04T18:28:43.273Z,1757010523.273 [DAT](INFO): Ping request sent.
2025-09-04T18:28:43.273Z,1757010523.273 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:43.273Z,1757010523.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:43.274Z,1757010523.274 [DAT](INFO): direction in FSK: [0.928435,0.009723,-0.371368]
2025-09-04T18:28:43.274Z,1757010523.274 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:43.274Z,1757010523.274 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:43.278Z,1757010523.278 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:43.278Z,1757010523.278 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:43.565Z,1757010523.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 265.899994 m,
      deltaT: 4.031666 s,
      deltaX: -2.300018 m,
      approachRate: -0.570488 m/s,
      rangeRepo size: 4

2025-09-04T18:28:43.567Z,1757010523.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.754089 m,
      bearing: 159.099819 deg,
      lat: 36.779209 deg,
      lon: -121.859226 deg,
      deltaT: 4.031666 s,
      deltaX: -2.293274 m,
      approachRate: -0.568815 m/s,
      posRepo size: 4

2025-09-04T18:28:43.567Z,1757010523.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:43.575Z,1757010523.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 246.955551 m,
      bearing: 158.617383 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030655 deg/s,
      cmd heading: 158.364998 deg,
      new cmd heading: 158.336558 deg.

2025-09-04T18:28:43.583Z,1757010523.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763494 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:43.878Z,1757010523.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:43.880Z,1757010523.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 246.700500 m,
      bearing: 158.607270 deg,
      approach rate: -0.801154 m/s,
      LOS rate: -0.031800 deg/s,
      cmd heading: 158.336557 deg,
      new cmd heading: 158.316310 deg.

2025-09-04T18:28:43.881Z,1757010523.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.763141 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:44.311Z,1757010524.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:44.314Z,1757010524.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 246.402267 m,
      bearing: 158.595426 deg,
      approach rate: -0.688223 m/s,
      LOS rate: -0.027365 deg/s,
      cmd heading: 158.316313 deg,
      new cmd heading: 158.292596 deg.

2025-09-04T18:28:44.315Z,1757010524.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762727 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:44.734Z,1757010524.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:44.736Z,1757010524.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:44.739Z,1757010524.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 246.073685 m,
      bearing: 158.581235 deg,
      approach rate: -0.772856 m/s,
      LOS rate: -0.033423 deg/s,
      cmd heading: 158.292598 deg,
      new cmd heading: 158.264178 deg.

2025-09-04T18:28:44.741Z,1757010524.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.762231 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:44.773Z,1757010524.773 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:44.774Z,1757010524.774 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:44.774Z,1757010524.774 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:45.026Z,1757010525.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752825
2025-09-04T18:28:45.110Z,1757010525.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:45.114Z,1757010525.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 245.812500 m,
      bearing: 158.569966 deg,
      approach rate: -0.697681 m/s,
      LOS rate: -0.030133 deg/s,
      cmd heading: 158.264185 deg,
      new cmd heading: 158.241624 deg.

2025-09-04T18:28:45.115Z,1757010525.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.761837 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:45.277Z,1757010525.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004372
2025-09-04T18:28:45.530Z,1757010525.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257404
2025-09-04T18:28:45.573Z,1757010525.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:45.581Z,1757010525.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 245.476685 m,
      bearing: 158.555599 deg,
      approach rate: -0.731879 m/s,
      LOS rate: -0.031355 deg/s,
      cmd heading: 158.241618 deg,
      new cmd heading: 158.212844 deg.

2025-09-04T18:28:45.582Z,1757010525.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.761335 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:45.781Z,1757010525.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508292
2025-09-04T18:28:45.900Z,1757010525.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:45.903Z,1757010525.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 245.223694 m,
      bearing: 158.544733 deg,
      approach rate: -0.765289 m/s,
      LOS rate: -0.032903 deg/s,
      cmd heading: 158.212849 deg,
      new cmd heading: 158.191095 deg.

2025-09-04T18:28:45.907Z,1757010525.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760955 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:46.034Z,1757010526.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761291
2025-09-04T18:28:46.285Z,1757010526.285 [DAT](INFO): DAT read: Rx Time:18:28:45.0608

2025-09-04T18:28:46.286Z,1757010526.286 [DAT](INFO): Rx dataTimestamp_ set to:1757010526.285322
2025-09-04T18:28:46.286Z,1757010526.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013332
2025-09-04T18:28:46.343Z,1757010526.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:46.356Z,1757010526.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 244.913269 m,
      bearing: 158.531387 deg,
      approach rate: -0.701088 m/s,
      LOS rate: -0.030179 deg/s,
      cmd heading: 158.191088 deg,
      new cmd heading: 158.164363 deg.

2025-09-04T18:28:46.357Z,1757010526.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760489 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:46.537Z,1757010526.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264167
2025-09-04T18:28:46.734Z,1757010526.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:46.737Z,1757010526.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:46.739Z,1757010526.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 244.612823 m,
      bearing: 158.520178 deg,
      approach rate: -0.762939 m/s,
      LOS rate: -0.028500 deg/s,
      cmd heading: 158.164368 deg,
      new cmd heading: 158.141921 deg.

2025-09-04T18:28:46.741Z,1757010526.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760097 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:46.790Z,1757010526.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517103
2025-09-04T18:28:47.047Z,1757010527.047 [DAT](INFO): DAT read: 18:28:45.0608 LVL= 17648, 17089, 20818, 21491, AGC= 69, IDX= 149, 0.19,-0.708,-2.038,-0.692,-1.458, PHS= 0.852,-0.534, 0.722, RAW= 145.1, -15.5, CAL= 146.2, -18.3, ROT=   3.8,  18.3

2025-09-04T18:28:47.048Z,1757010527.048 [DAT](INFO): got valid direction response:
 18:28:45.0608 LVL= 17648, 17089, 20818, 21491, AGC= 69, IDX= 149, 0.19,-0.708,-2.038,-0.692,-1.458, PHS= 0.852,-0.534, 0.722, RAW= 145.1, -15.5, CAL= 146.2, -18.3, ROT=   3.8,  18.3

2025-09-04T18:28:47.049Z,1757010527.049 [DAT](INFO): DAT read: Bearing 297.8,   4.2 (Local)

2025-09-04T18:28:47.049Z,1757010527.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.8,   4.2 (Local)

2025-09-04T18:28:47.051Z,1757010527.051 [DAT](INFO): DAT read: Range 11 to 50 : 244.3 m  (Round-trip  325.8 ms) speed  0.3 m/s

2025-09-04T18:28:47.052Z,1757010527.052 [DAT](INFO): DAT read: user:2793>

2025-09-04T18:28:47.057Z,1757010527.057 [DAT](INFO): DAT read: Tx time:18:28:46.1808

2025-09-04T18:28:47.057Z,1757010527.057 [DAT](INFO): Ping request sent.
2025-09-04T18:28:47.057Z,1757010527.057 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:47.058Z,1757010527.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:47.058Z,1757010527.058 [DAT](INFO): direction in FSK: [0.947338,0.062922,-0.313992]
2025-09-04T18:28:47.059Z,1757010527.059 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:47.059Z,1757010527.059 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:47.062Z,1757010527.062 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:47.062Z,1757010527.062 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:47.170Z,1757010527.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 244.300003 m,
 deltaT: 3.780025 s,
 deltaX: -21.599991 m,
 approachRate: -5.714245 m/s,
 rangeRepo size: 4
2025-09-04T18:28:47.171Z,1757010527.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:47.186Z,1757010527.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 244.307892 m,
      bearing: 158.508799 deg,
      approach rate: -0.707150 m/s,
      LOS rate: -0.026420 deg/s,
      cmd heading: 158.141924 deg,
      new cmd heading: 158.119139 deg.

2025-09-04T18:28:47.187Z,1757010527.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.759700 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:47.694Z,1757010527.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:47.701Z,1757010527.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 243.925018 m,
      bearing: 158.493176 deg,
      approach rate: -0.727542 m/s,
      LOS rate: -0.029735 deg/s,
      cmd heading: 158.119139 deg,
      new cmd heading: 158.087843 deg.

2025-09-04T18:28:47.702Z,1757010527.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.759153 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:48.068Z,1757010528.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:48.071Z,1757010528.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 243.654022 m,
      bearing: 158.482098 deg,
      approach rate: -0.724416 m/s,
      LOS rate: -0.029644 deg/s,
      cmd heading: 158.087843 deg,
      new cmd heading: 158.065664 deg.

2025-09-04T18:28:48.072Z,1757010528.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758766 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:48.544Z,1757010528.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:48.546Z,1757010528.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 243.305161 m,
      bearing: 158.468326 deg,
      approach rate: -0.733746 m/s,
      LOS rate: -0.029008 deg/s,
      cmd heading: 158.065658 deg,
      new cmd heading: 158.038074 deg.

2025-09-04T18:28:48.547Z,1757010528.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758285 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:48.935Z,1757010528.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:48.942Z,1757010528.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:48.968Z,1757010528.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 243.021881 m,
      bearing: 158.457150 deg,
      approach rate: -0.711684 m/s,
      LOS rate: -0.028110 deg/s,
      cmd heading: 158.038078 deg,
      new cmd heading: 158.015700 deg.

2025-09-04T18:28:48.969Z,1757010528.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.757894 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:49.057Z,1757010529.057 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:49.057Z,1757010529.057 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:49.057Z,1757010529.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:49.309Z,1757010529.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251686
2025-09-04T18:28:49.327Z,1757010529.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:49.330Z,1757010529.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 242.735748 m,
      bearing: 158.445875 deg,
      approach rate: -0.742460 m/s,
      LOS rate: -0.029290 deg/s,
      cmd heading: 158.015702 deg,
      new cmd heading: 157.993127 deg.

2025-09-04T18:28:49.331Z,1757010529.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.757500 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:49.561Z,1757010529.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503741
2025-09-04T18:28:49.764Z,1757010529.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:49.767Z,1757010529.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 242.423553 m,
      bearing: 158.434511 deg,
      approach rate: -0.714094 m/s,
      LOS rate: -0.026027 deg/s,
      cmd heading: 157.993122 deg,
      new cmd heading: 157.970365 deg.

2025-09-04T18:28:49.768Z,1757010529.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.757103 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:49.814Z,1757010529.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756595
2025-09-04T18:28:50.065Z,1757010530.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007763
2025-09-04T18:28:50.152Z,1757010530.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:50.155Z,1757010530.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 242.146530 m,
      bearing: 158.424382 deg,
      approach rate: -0.714145 m/s,
      LOS rate: -0.026142 deg/s,
      cmd heading: 157.970364 deg,
      new cmd heading: 157.950082 deg.

2025-09-04T18:28:50.156Z,1757010530.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756749 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:50.317Z,1757010530.317 [DAT](INFO): DAT read: Rx Time:18:28:48.9333

2025-09-04T18:28:50.318Z,1757010530.318 [DAT](INFO): Rx dataTimestamp_ set to:1757010530.317484
2025-09-04T18:28:50.318Z,1757010530.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261058
2025-09-04T18:28:50.569Z,1757010530.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512042
2025-09-04T18:28:50.612Z,1757010530.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.75 m.
2025-09-04T18:28:50.635Z,1757010530.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.754089 m,
      nav range: 241.817764 m,
      bearing: 158.412511 deg,
      approach rate: -0.715270 m/s,
      LOS rate: -0.025863 deg/s,
      cmd heading: 157.950078 deg,
      new cmd heading: 157.926303 deg.

2025-09-04T18:28:50.636Z,1757010530.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756334 target range: 264.754089 and range: 265.90 m.
2025-09-04T18:28:50.827Z,1757010530.827 [DAT](INFO): DAT read: 18:28:48.9333 LVL= 32752, 32753, 30242, 30947, AGC= 70, IDX= 156, 0.02, 1.289,-0.199, 1.318, 0.286, PHS= 1.105,-0.440, 0.988, RAW= 146.1, -21.4, CAL= 147.4, -23.6, ROT=   2.6,  23.6

2025-09-04T18:28:50.828Z,1757010530.828 [DAT](INFO): got valid direction response:
 18:28:48.9333 LVL= 32752, 32753, 30242, 30947, AGC= 70, IDX= 156, 0.02, 1.289,-0.199, 1.318, 0.286, PHS= 1.105,-0.440, 0.988, RAW= 146.1, -21.4, CAL= 147.4, -23.6, ROT=   2.6,  23.6

2025-09-04T18:28:50.829Z,1757010530.829 [DAT](INFO): DAT read: Bearing 292.3,   2.8 (Local)

2025-09-04T18:28:50.829Z,1757010530.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.3,   2.8 (Local)

2025-09-04T18:28:50.831Z,1757010530.831 [DAT](INFO): DAT read: Range 11 to 50 : 261.3 m  (Round-trip  348.4 ms) speed  0.4 m/s

2025-09-04T18:28:50.831Z,1757010530.831 [DAT](INFO): DAT read: user:2794>

2025-09-04T18:28:50.832Z,1757010530.832 [DAT](INFO): DAT read: Tx time:18:28:50.0308

2025-09-04T18:28:50.832Z,1757010530.832 [DAT](INFO): Ping request sent.
2025-09-04T18:28:50.833Z,1757010530.833 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:50.833Z,1757010530.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:50.834Z,1757010530.834 [DAT](INFO): direction in FSK: [0.915419,0.041569,-0.400349]
2025-09-04T18:28:50.834Z,1757010530.834 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:50.834Z,1757010530.834 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:50.838Z,1757010530.838 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:50.838Z,1757010530.838 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:51.070Z,1757010531.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 261.299988 m,
      deltaT: 7.559982 s,
      deltaX: -4.600006 m,
      approachRate: -0.608468 m/s,
      rangeRepo size: 4

2025-09-04T18:28:51.081Z,1757010531.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 260.178497 m,
      bearing: 160.787309 deg,
      lat: 36.779209 deg,
      lon: -121.859248 deg,
      deltaT: 7.559982 s,
      deltaX: -4.575592 m,
      approachRate: -0.605238 m/s,
      posRepo size: 4

2025-09-04T18:28:51.082Z,1757010531.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:51.090Z,1757010531.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 240.799942 m,
      bearing: 158.826929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025863 deg/s,
      cmd heading: 157.926309 deg,
      new cmd heading: 157.902614 deg.

2025-09-04T18:28:51.091Z,1757010531.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755920 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:51.368Z,1757010531.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:28:51.531Z,1757010531.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:51.543Z,1757010531.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:51.550Z,1757010531.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 240.511215 m,
      bearing: 158.817023 deg,
      approach rate: -0.609760 m/s,
      LOS rate: -0.020944 deg/s,
      cmd heading: 157.902608 deg,
      new cmd heading: 157.882774 deg.

2025-09-04T18:28:51.551Z,1757010531.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755574 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:51.580Z,1757010531.580 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:51.580Z,1757010531.580 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:51.580Z,1757010531.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:51.834Z,1757010531.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000989
2025-09-04T18:28:51.962Z,1757010531.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:51.965Z,1757010531.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 240.151672 m,
      bearing: 158.805283 deg,
      approach rate: -0.858985 m/s,
      LOS rate: -0.028090 deg/s,
      cmd heading: 157.882773 deg,
      new cmd heading: 157.859258 deg.

2025-09-04T18:28:51.966Z,1757010531.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.755164 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:52.085Z,1757010532.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252348
2025-09-04T18:28:52.325Z,1757010532.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:52.328Z,1757010532.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 239.912720 m,
      bearing: 158.797496 deg,
      approach rate: -0.658551 m/s,
      LOS rate: -0.021483 deg/s,
      cmd heading: 157.859264 deg,
      new cmd heading: 157.843674 deg.

2025-09-04T18:28:52.329Z,1757010532.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754892 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:52.337Z,1757010532.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504458
2025-09-04T18:28:52.372Z,1757010532.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:28:52.592Z,1757010532.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758883
2025-09-04T18:28:52.724Z,1757010532.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:52.743Z,1757010532.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 239.627563 m,
      bearing: 158.787510 deg,
      approach rate: -0.714779 m/s,
      LOS rate: -0.025061 deg/s,
      cmd heading: 157.843677 deg,
      new cmd heading: 157.823682 deg.

2025-09-04T18:28:52.748Z,1757010532.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754543 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:52.842Z,1757010532.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009036
2025-09-04T18:28:53.093Z,1757010533.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260333
2025-09-04T18:28:53.134Z,1757010533.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:53.136Z,1757010533.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 239.341675 m,
      bearing: 158.777517 deg,
      approach rate: -0.697412 m/s,
      LOS rate: -0.024407 deg/s,
      cmd heading: 157.823679 deg,
      new cmd heading: 157.803668 deg.

2025-09-04T18:28:53.137Z,1757010533.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.754194 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:53.357Z,1757010533.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524793
2025-09-04T18:28:53.563Z,1757010533.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:53.565Z,1757010533.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:53.594Z,1757010533.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 239.044693 m,
      bearing: 158.767149 deg,
      approach rate: -0.687544 m/s,
      LOS rate: -0.024033 deg/s,
      cmd heading: 157.803666 deg,
      new cmd heading: 157.782904 deg.

2025-09-04T18:28:53.595Z,1757010533.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753831 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:53.597Z,1757010533.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764476
2025-09-04T18:28:53.849Z,1757010533.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016324
2025-09-04T18:28:53.987Z,1757010533.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:53.995Z,1757010533.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 238.753677 m,
      bearing: 158.756745 deg,
      approach rate: -0.692705 m/s,
      LOS rate: -0.024794 deg/s,
      cmd heading: 157.782902 deg,
      new cmd heading: 157.762070 deg.

2025-09-04T18:28:53.998Z,1757010533.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753468 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:54.101Z,1757010534.101 [DAT](INFO): DAT read: Rx Time:18:28:52.7541

2025-09-04T18:28:54.102Z,1757010534.102 [DAT](INFO): Rx dataTimestamp_ set to:1757010534.101321
2025-09-04T18:28:54.102Z,1757010534.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269498
2025-09-04T18:28:54.353Z,1757010534.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520331
2025-09-04T18:28:54.377Z,1757010534.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:54.381Z,1757010534.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 238.490906 m,
      bearing: 158.747389 deg,
      approach rate: -0.670962 m/s,
      LOS rate: -0.023916 deg/s,
      cmd heading: 157.762070 deg,
      new cmd heading: 157.743338 deg.

2025-09-04T18:28:54.382Z,1757010534.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753141 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:54.612Z,1757010534.612 [DAT](INFO): DAT read: 18:28:52.7541 LVL= 30288, 32753, 30338, 26467, AGC= 69, IDX= 145, 0.22,-1.666,-3.086,-1.495,-2.628, PHS= 1.064,-0.413, 1.089, RAW= 150.8, -22.4, CAL= 152.6, -24.2, ROT= 357.4,  24.2

2025-09-04T18:28:54.624Z,1757010534.624 [DAT](INFO): got valid direction response:
 18:28:52.7541 LVL= 30288, 32753, 30338, 26467, AGC= 69, IDX= 145, 0.22,-1.666,-3.086,-1.495,-2.628, PHS= 1.064,-0.413, 1.089, RAW= 150.8, -22.4, CAL= 152.6, -24.2, ROT= 357.4,  24.2

2025-09-04T18:28:54.625Z,1757010534.625 [DAT](INFO): DAT read: Bearing 291.3,  -2.3 (Local)

2025-09-04T18:28:54.625Z,1757010534.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.3,  -2.3 (Local)

2025-09-04T18:28:54.627Z,1757010534.627 [DAT](INFO): DAT read: Range 11 to 50 : 239.4 m  (Round-trip  319.2 ms) speed  0.6 m/s

2025-09-04T18:28:54.628Z,1757010534.628 [DAT](INFO): DAT read: user:2795>

2025-09-04T18:28:54.637Z,1757010534.637 [DAT](INFO): DAT read: Tx time:18:28:53.8808

2025-09-04T18:28:54.637Z,1757010534.637 [DAT](INFO): Ping request sent.
2025-09-04T18:28:54.637Z,1757010534.637 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:54.638Z,1757010534.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:54.639Z,1757010534.639 [DAT](INFO): direction in FSK: [0.911181,-0.041376,-0.409923]
2025-09-04T18:28:54.639Z,1757010534.639 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:54.639Z,1757010534.639 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:54.642Z,1757010534.642 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:54.643Z,1757010534.643 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:54.867Z,1757010534.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 239.399994 m,
 deltaT: 3.784334 s,
 deltaX: -21.899994 m,
 approachRate: -5.787014 m/s,
 rangeRepo size: 4
2025-09-04T18:28:54.877Z,1757010534.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:54.879Z,1757010534.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 238.161972 m,
      bearing: 158.734234 deg,
      approach rate: -0.671934 m/s,
      LOS rate: -0.026911 deg/s,
      cmd heading: 157.743342 deg,
      new cmd heading: 157.716995 deg.

2025-09-04T18:28:54.888Z,1757010534.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752681 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:55.224Z,1757010535.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:55.227Z,1757010535.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 237.888779 m,
      bearing: 158.723266 deg,
      approach rate: -0.765719 m/s,
      LOS rate: -0.030776 deg/s,
      cmd heading: 157.716991 deg,
      new cmd heading: 157.695030 deg.

2025-09-04T18:28:55.228Z,1757010535.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.752297 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:55.653Z,1757010535.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:55.656Z,1757010535.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:55.659Z,1757010535.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 237.584061 m,
      bearing: 158.711471 deg,
      approach rate: -0.705093 m/s,
      LOS rate: -0.027327 deg/s,
      cmd heading: 157.695025 deg,
      new cmd heading: 157.671405 deg.

2025-09-04T18:28:55.660Z,1757010535.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.751885 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:55.865Z,1757010535.865 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:55.865Z,1757010535.865 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:55.865Z,1757010535.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:28:56.053Z,1757010536.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:56.056Z,1757010536.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 237.313446 m,
      bearing: 158.700988 deg,
      approach rate: -0.681340 m/s,
      LOS rate: -0.026424 deg/s,
      cmd heading: 157.671406 deg,
      new cmd heading: 157.650416 deg.

2025-09-04T18:28:56.057Z,1757010536.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.751519 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:56.117Z,1757010536.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479719
2025-09-04T18:28:56.369Z,1757010536.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731688
2025-09-04T18:28:56.433Z,1757010536.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:56.436Z,1757010536.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 237.033844 m,
      bearing: 158.690169 deg,
      approach rate: -0.734967 m/s,
      LOS rate: -0.028474 deg/s,
      cmd heading: 157.650410 deg,
      new cmd heading: 157.628746 deg.

2025-09-04T18:28:56.437Z,1757010536.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.751141 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:56.622Z,1757010536.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984199
2025-09-04T18:28:56.858Z,1757010536.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:56.861Z,1757010536.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 236.738937 m,
      bearing: 158.678076 deg,
      approach rate: -0.694400 m/s,
      LOS rate: -0.028508 deg/s,
      cmd heading: 157.628745 deg,
      new cmd heading: 157.604530 deg.

2025-09-04T18:28:56.862Z,1757010536.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.750718 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:56.873Z,1757010536.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235729
2025-09-04T18:28:57.126Z,1757010537.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488244
2025-09-04T18:28:57.238Z,1757010537.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:57.241Z,1757010537.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 236.473831 m,
      bearing: 158.667220 deg,
      approach rate: -0.698458 m/s,
      LOS rate: -0.028634 deg/s,
      cmd heading: 157.604525 deg,
      new cmd heading: 157.582788 deg.

2025-09-04T18:28:57.242Z,1757010537.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.750339 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:57.377Z,1757010537.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739592
2025-09-04T18:28:57.629Z,1757010537.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991632
2025-09-04T18:28:57.705Z,1757010537.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:57.707Z,1757010537.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:57.710Z,1757010537.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 236.134064 m,
      bearing: 158.653496 deg,
      approach rate: -0.723921 m/s,
      LOS rate: -0.029283 deg/s,
      cmd heading: 157.582791 deg,
      new cmd heading: 157.555304 deg.

2025-09-04T18:28:57.711Z,1757010537.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749859 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:57.886Z,1757010537.886 [DAT](INFO): DAT read: Rx Time:18:28:56.6267

2025-09-04T18:28:57.886Z,1757010537.886 [DAT](INFO): Rx dataTimestamp_ set to:1757010537.885828
2025-09-04T18:28:57.887Z,1757010537.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249229
2025-09-04T18:28:58.050Z,1757010538.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:58.053Z,1757010538.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 235.885849 m,
      bearing: 158.643529 deg,
      approach rate: -0.722899 m/s,
      LOS rate: -0.029061 deg/s,
      cmd heading: 157.555307 deg,
      new cmd heading: 157.535350 deg.

2025-09-04T18:28:58.054Z,1757010538.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749511 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:58.138Z,1757010538.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500565
2025-09-04T18:28:58.392Z,1757010538.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754355
2025-09-04T18:28:58.484Z,1757010538.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 260.18 m.
2025-09-04T18:28:58.510Z,1757010538.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 260.178497 m,
      nav range: 235.576874 m,
      bearing: 158.631127 deg,
      approach rate: -0.713763 m/s,
      LOS rate: -0.028687 deg/s,
      cmd heading: 157.535349 deg,
      new cmd heading: 157.510513 deg.

2025-09-04T18:28:58.511Z,1757010538.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.749077 target range: 260.178497 and range: 261.30 m.
2025-09-04T18:28:58.659Z,1757010538.659 [DAT](INFO): DAT read: 18:28:56.6267 LVL= 21072, 23537, 19570, 25587, AGC= 67, IDX= 167, 0.10,-1.902, 2.727,-1.892,-3.058, PHS= 1.258,-0.454, 1.122, RAW= 145.9, -22.5, CAL= 147.2, -24.5, ROT=   2.8,  24.5

2025-09-04T18:28:58.666Z,1757010538.666 [DAT](INFO): got valid direction response:
 18:28:56.6267 LVL= 21072, 23537, 19570, 25587, AGC= 67, IDX= 167, 0.10,-1.902, 2.727,-1.892,-3.058, PHS= 1.258,-0.454, 1.122, RAW= 145.9, -22.5, CAL= 147.2, -24.5, ROT=   2.8,  24.5

2025-09-04T18:28:58.679Z,1757010538.679 [DAT](INFO): DAT read: Bearing 291.1,   2.4 (Local)

2025-09-04T18:28:58.681Z,1757010538.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.1,   2.4 (Local)

2025-09-04T18:28:58.683Z,1757010538.683 [DAT](INFO): DAT read: Range 11 to 50 : 256.2 m  (Round-trip  341.7 ms) speed  0.4 m/s

2025-09-04T18:28:58.683Z,1757010538.683 [DAT](INFO): DAT read: user:2796>

2025-09-04T18:28:58.693Z,1757010538.693 [DAT](INFO): DAT read: Tx time:18:28:57.7308

2025-09-04T18:28:58.693Z,1757010538.693 [DAT](INFO): Ping request sent.
2025-09-04T18:28:58.693Z,1757010538.693 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:28:58.693Z,1757010538.693 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:28:58.694Z,1757010538.694 [DAT](INFO): direction in FSK: [0.908875,0.044451,-0.414693]
2025-09-04T18:28:58.695Z,1757010538.695 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:58.695Z,1757010538.695 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:58.698Z,1757010538.698 [DAT](INFO): publishing transmit ping time
2025-09-04T18:28:58.698Z,1757010538.698 [DAT](INFO): publishing direction and range info
2025-09-04T18:28:58.998Z,1757010538.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 256.200012 m,
      deltaT: 7.820219 s,
      deltaX: -5.099976 m,
      approachRate: -0.652153 m/s,
      rangeRepo size: 4

2025-09-04T18:28:59.005Z,1757010539.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.101379 m,
      bearing: 160.486696 deg,
      lat: 36.779227 deg,
      lon: -121.859345 deg,
      deltaT: 7.820219 s,
      deltaX: -5.077118 m,
      approachRate: -0.649230 m/s,
      posRepo size: 4

2025-09-04T18:28:59.007Z,1757010539.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:28:59.026Z,1757010539.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 230.334793 m,
      bearing: 160.442729 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028687 deg/s,
      cmd heading: 157.510514 deg,
      new cmd heading: 157.482044 deg.

2025-09-04T18:28:59.027Z,1757010539.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.748580 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:28:59.383Z,1757010539.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:28:59.386Z,1757010539.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 230.040146 m,
      bearing: 160.434517 deg,
      approach rate: -0.730808 m/s,
      LOS rate: -0.020395 deg/s,
      cmd heading: 157.482046 deg,
      new cmd heading: 157.465601 deg.

2025-09-04T18:28:59.387Z,1757010539.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.748293 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:28:59.799Z,1757010539.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:28:59.802Z,1757010539.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:28:59.804Z,1757010539.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 229.725586 m,
      bearing: 160.426216 deg,
      approach rate: -0.750826 m/s,
      LOS rate: -0.019842 deg/s,
      cmd heading: 157.465599 deg,
      new cmd heading: 157.448973 deg.

2025-09-04T18:28:59.805Z,1757010539.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.748003 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:28:59.945Z,1757010539.945 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:28:59.945Z,1757010539.945 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:28:59.945Z,1757010539.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:00.182Z,1757010540.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:29:00.197Z,1757010540.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503869
2025-09-04T18:29:00.205Z,1757010540.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 229.444168 m,
      bearing: 160.418788 deg,
      approach rate: -0.739493 m/s,
      LOS rate: -0.019542 deg/s,
      cmd heading: 157.448974 deg,
      new cmd heading: 157.434101 deg.

2025-09-04T18:29:00.206Z,1757010540.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747743 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:29:00.449Z,1757010540.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755912
2025-09-04T18:29:00.646Z,1757010540.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:29:00.653Z,1757010540.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 229.141968 m,
      bearing: 160.410796 deg,
      approach rate: -0.651871 m/s,
      LOS rate: -0.017261 deg/s,
      cmd heading: 157.434098 deg,
      new cmd heading: 157.418094 deg.

2025-09-04T18:29:00.653Z,1757010540.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747464 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:29:00.701Z,1757010540.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008196
2025-09-04T18:29:00.954Z,1757010540.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261325
2025-09-04T18:29:01.068Z,1757010541.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:29:01.071Z,1757010541.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 228.790298 m,
      bearing: 160.401856 deg,
      approach rate: -0.832515 m/s,
      LOS rate: -0.021197 deg/s,
      cmd heading: 157.418088 deg,
      new cmd heading: 157.400180 deg.

2025-09-04T18:29:01.072Z,1757010541.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747151 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:29:01.205Z,1757010541.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511910
2025-09-04T18:29:01.430Z,1757010541.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:29:01.433Z,1757010541.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 228.522491 m,
      bearing: 160.395050 deg,
      approach rate: -0.739944 m/s,
      LOS rate: -0.018827 deg/s,
      cmd heading: 157.400179 deg,
      new cmd heading: 157.386552 deg.

2025-09-04T18:29:01.434Z,1757010541.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746913 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:29:01.457Z,1757010541.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764026
2025-09-04T18:29:01.709Z,1757010541.709 [DAT](INFO): DAT read: Rx Time:18:29:00.4735

2025-09-04T18:29:01.710Z,1757010541.710 [DAT](INFO): Rx dataTimestamp_ set to:1757010541.709341
2025-09-04T18:29:01.710Z,1757010541.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017055
2025-09-04T18:29:01.862Z,1757010541.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:01.864Z,1757010541.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:29:01.867Z,1757010541.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 228.205505 m,
      bearing: 160.386452 deg,
      approach rate: -0.730381 m/s,
      LOS rate: -0.019838 deg/s,
      cmd heading: 157.386546 deg,
      new cmd heading: 157.369327 deg.

2025-09-04T18:29:01.868Z,1757010541.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746613 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:29:01.962Z,1757010541.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269294
2025-09-04T18:29:02.213Z,1757010542.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520136
2025-09-04T18:29:02.309Z,1757010542.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.10 m.
2025-09-04T18:29:02.312Z,1757010542.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.101379 m,
      nav range: 227.879913 m,
      bearing: 160.377596 deg,
      approach rate: -0.730835 m/s,
      LOS rate: -0.019907 deg/s,
      cmd heading: 157.369321 deg,
      new cmd heading: 157.351583 deg.

2025-09-04T18:29:02.313Z,1757010542.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.746303 target range: 255.101379 and range: 256.20 m.
2025-09-04T18:29:02.475Z,1757010542.475 [DAT](INFO): DAT read: 18:29:00.4735 LVL= 32752, 32705, 32754, 32755, AGC= 68, IDX= 408, 0.11, 3.139, 1.649,-3.105, 2.128, PHS= 1.113,-0.434, 1.007, RAW= 146.5, -21.7, CAL= 147.8, -23.9, ROT=   2.2,  23.9

2025-09-04T18:29:02.478Z,1757010542.478 [DAT](INFO): got valid direction response:
 18:29:00.4735 LVL= 32752, 32705, 32754, 32755, AGC= 68, IDX= 408, 0.11, 3.139, 1.649,-3.105, 2.128, PHS= 1.113,-0.434, 1.007, RAW= 146.5, -21.7, CAL= 147.8, -23.9, ROT=   2.2,  23.9

2025-09-04T18:29:02.479Z,1757010542.479 [DAT](INFO): DAT read: Bearing 291.6,   1.7 (Local)

2025-09-04T18:29:02.481Z,1757010542.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.6,   1.7 (Local)

2025-09-04T18:29:02.483Z,1757010542.483 [DAT](INFO): DAT read: Range 11 to 50 : 253.9 m  (Round-trip  338.6 ms) speed  0.5 m/s

2025-09-04T18:29:02.485Z,1757010542.485 [DAT](INFO): DAT read: user:2797>

2025-09-04T18:29:02.486Z,1757010542.486 [DAT](INFO): DAT read: Tx time:18:29:01.5807

2025-09-04T18:29:02.486Z,1757010542.486 [DAT](INFO): Ping request sent.
2025-09-04T18:29:02.486Z,1757010542.486 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:02.487Z,1757010542.487 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:02.509Z,1757010542.509 [DAT](INFO): direction in FSK: [0.913580,0.035096,-0.405142]
2025-09-04T18:29:02.509Z,1757010542.509 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:02.509Z,1757010542.509 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:02.525Z,1757010542.525 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:02.525Z,1757010542.525 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:02.814Z,1757010542.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.899994 m,
      deltaT: 3.823750 s,
      deltaX: -2.300018 m,
      approachRate: -0.601509 m/s,
      rangeRepo size: 4

2025-09-04T18:29:02.824Z,1757010542.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 252.808975 m,
      bearing: 159.704551 deg,
      lat: 36.779227 deg,
      lon: -121.859345 deg,
      deltaT: 3.823750 s,
      deltaX: -2.292404 m,
      approachRate: -0.599517 m/s,
      posRepo size: 4

2025-09-04T18:29:02.825Z,1757010542.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:02.827Z,1757010542.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 227.526245 m,
      bearing: 160.368643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019907 deg/s,
      cmd heading: 157.351589 deg,
      new cmd heading: 157.331538 deg.

2025-09-04T18:29:02.837Z,1757010542.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745953 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:03.202Z,1757010543.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:03.209Z,1757010543.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 227.241821 m,
      bearing: 160.361475 deg,
      approach rate: -0.731889 m/s,
      LOS rate: -0.018468 deg/s,
      cmd heading: 157.331536 deg,
      new cmd heading: 157.317182 deg.

2025-09-04T18:29:03.210Z,1757010543.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745703 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:03.553Z,1757010543.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:03.556Z,1757010543.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 226.970581 m,
      bearing: 160.354623 deg,
      approach rate: -0.772236 m/s,
      LOS rate: -0.019533 deg/s,
      cmd heading: 157.317179 deg,
      new cmd heading: 157.303457 deg.

2025-09-04T18:29:03.557Z,1757010543.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745463 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:04.010Z,1757010544.010 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS  +702,    -6,A
2025-09-04T18:29:04.041Z,1757010544.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:04.044Z,1757010544.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:04.050Z,1757010544.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 226.623947 m,
      bearing: 160.345877 deg,
      approach rate: -0.706626 m/s,
      LOS rate: -0.017855 deg/s,
      cmd heading: 157.303464 deg,
      new cmd heading: 157.285946 deg.

2025-09-04T18:29:04.051Z,1757010544.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745158 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:04.229Z,1757010544.229 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:04.229Z,1757010544.229 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:04.229Z,1757010544.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:04.434Z,1757010544.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:04.441Z,1757010544.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 226.349945 m,
      bearing: 160.338961 deg,
      approach rate: -0.701997 m/s,
      LOS rate: -0.017742 deg/s,
      cmd heading: 157.285951 deg,
      new cmd heading: 157.272102 deg.

2025-09-04T18:29:04.442Z,1757010544.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744916 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:04.483Z,1757010544.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995931
2025-09-04T18:29:04.734Z,1757010544.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247450
2025-09-04T18:29:04.855Z,1757010544.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:04.857Z,1757010544.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 226.032120 m,
      bearing: 160.330994 deg,
      approach rate: -0.755409 m/s,
      LOS rate: -0.018963 deg/s,
      cmd heading: 157.272100 deg,
      new cmd heading: 157.256143 deg.

2025-09-04T18:29:04.858Z,1757010544.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744637 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:04.987Z,1757010544.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500534
2025-09-04T18:29:05.237Z,1757010545.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750845
2025-09-04T18:29:05.297Z,1757010545.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:05.300Z,1757010545.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 225.722275 m,
      bearing: 160.323193 deg,
      approach rate: -0.699693 m/s,
      LOS rate: -0.017640 deg/s,
      cmd heading: 157.256144 deg,
      new cmd heading: 157.240522 deg.

2025-09-04T18:29:05.301Z,1757010545.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744365 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:05.490Z,1757010545.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003560
2025-09-04T18:29:05.737Z,1757010545.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:05.741Z,1757010545.741 [DAT](INFO): DAT read: Rx Time:18:29:04.3209

2025-09-04T18:29:05.742Z,1757010545.742 [DAT](INFO): Rx dataTimestamp_ set to:1757010545.741330
2025-09-04T18:29:05.742Z,1757010545.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255914
2025-09-04T18:29:05.744Z,1757010545.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 225.470093 m,
      bearing: 160.316857 deg,
      approach rate: -0.573072 m/s,
      LOS rate: -0.014414 deg/s,
      cmd heading: 157.240517 deg,
      new cmd heading: 157.227831 deg.

2025-09-04T18:29:05.745Z,1757010545.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.744143 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:05.995Z,1757010545.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508643
2025-09-04T18:29:06.147Z,1757010546.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:06.149Z,1757010546.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.81 m.
2025-09-04T18:29:06.152Z,1757010546.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.808975 m,
      nav range: 225.126343 m,
      bearing: 160.307118 deg,
      approach rate: -0.835377 m/s,
      LOS rate: -0.023703 deg/s,
      cmd heading: 157.227826 deg,
      new cmd heading: 157.208319 deg.

2025-09-04T18:29:06.165Z,1757010546.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743803 target range: 252.808975 and range: 253.90 m.
2025-09-04T18:29:06.251Z,1757010546.251 [DAT](INFO): DAT read: 18:29:04.3209 LVL= 31504, 29681, 27618, 27411, AGC= 69, IDX= 415,-0.39, 2.717, 1.249, 2.747, 1.851, PHS= 0.969,-0.557, 0.852, RAW= 146.1, -16.9, CAL= 147.5, -19.8, ROT=   2.5,  19.8

2025-09-04T18:29:06.252Z,1757010546.252 [DAT](INFO): got valid direction response:
 18:29:04.3209 LVL= 31504, 29681, 27618, 27411, AGC= 69, IDX= 415,-0.39, 2.717, 1.249, 2.747, 1.851, PHS= 0.969,-0.557, 0.852, RAW= 146.1, -16.9, CAL= 147.5, -19.8, ROT=   2.5,  19.8

2025-09-04T18:29:06.253Z,1757010546.253 [DAT](INFO): DAT read: Bearing 295.6,   1.6 (Local)

2025-09-04T18:29:06.253Z,1757010546.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.6,   1.6 (Local)

2025-09-04T18:29:06.255Z,1757010546.255 [DAT](INFO): DAT read: Range 11 to 50 : 252.0 m  (Round-trip  336.1 ms) speed  0.5 m/s

2025-09-04T18:29:06.256Z,1757010546.256 [DAT](INFO): DAT read: user:2798>

2025-09-04T18:29:06.256Z,1757010546.256 [DAT](INFO): DAT read: Tx time:18:29:05.4307

2025-09-04T18:29:06.257Z,1757010546.257 [DAT](INFO): Ping request sent.
2025-09-04T18:29:06.257Z,1757010546.257 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:06.257Z,1757010546.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:06.258Z,1757010546.258 [DAT](INFO): direction in FSK: [0.939985,0.041041,-0.338738]
2025-09-04T18:29:06.258Z,1757010546.258 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:06.258Z,1757010546.258 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:06.270Z,1757010546.270 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:06.271Z,1757010546.271 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:06.565Z,1757010546.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.000000 m,
      deltaT: 3.780140 s,
      deltaX: -1.899994 m,
      approachRate: -0.502625 m/s,
      rangeRepo size: 4

2025-09-04T18:29:06.567Z,1757010546.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 250.918213 m,
      bearing: 160.046283 deg,
      lat: 36.779225 deg,
      lon: -121.859312 deg,
      deltaT: 3.780140 s,
      deltaX: -1.890762 m,
      approachRate: -0.500183 m/s,
      posRepo size: 4

2025-09-04T18:29:06.568Z,1757010546.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:06.571Z,1757010546.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 226.065048 m,
      bearing: 159.626864 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023703 deg/s,
      cmd heading: 157.208319 deg,
      new cmd heading: 157.188630 deg.

2025-09-04T18:29:06.572Z,1757010546.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743459 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:06.997Z,1757010546.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:06.999Z,1757010546.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 225.785233 m,
      bearing: 159.617454 deg,
      approach rate: -0.647038 m/s,
      LOS rate: -0.021787 deg/s,
      cmd heading: 157.188635 deg,
      new cmd heading: 157.169791 deg.

2025-09-04T18:29:07.013Z,1757010547.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.743130 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:07.334Z,1757010547.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:07.338Z,1757010547.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 225.518677 m,
      bearing: 159.608471 deg,
      approach rate: -0.791117 m/s,
      LOS rate: -0.026692 deg/s,
      cmd heading: 157.169797 deg,
      new cmd heading: 157.151810 deg.

2025-09-04T18:29:07.339Z,1757010547.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742816 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:07.827Z,1757010547.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:07.830Z,1757010547.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 225.172897 m,
      bearing: 159.595734 deg,
      approach rate: -0.700730 m/s,
      LOS rate: -0.025851 deg/s,
      cmd heading: 157.151806 deg,
      new cmd heading: 157.126294 deg.

2025-09-04T18:29:07.831Z,1757010547.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742371 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:08.188Z,1757010548.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:08.191Z,1757010548.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:08.194Z,1757010548.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 224.918884 m,
      bearing: 159.586434 deg,
      approach rate: -0.698979 m/s,
      LOS rate: -0.025621 deg/s,
      cmd heading: 157.126289 deg,
      new cmd heading: 157.107668 deg.

2025-09-04T18:29:08.195Z,1757010548.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742046 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:08.261Z,1757010548.261 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:08.261Z,1757010548.261 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:08.262Z,1757010548.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:08.513Z,1757010548.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256217
2025-09-04T18:29:08.611Z,1757010548.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:08.614Z,1757010548.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 224.637604 m,
      bearing: 159.576142 deg,
      approach rate: -0.669602 m/s,
      LOS rate: -0.024533 deg/s,
      cmd heading: 157.107670 deg,
      new cmd heading: 157.087059 deg.

2025-09-04T18:29:08.615Z,1757010548.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.741686 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:08.767Z,1757010548.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509771
2025-09-04T18:29:09.017Z,1757010549.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760125
2025-09-04T18:29:09.059Z,1757010549.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:09.063Z,1757010549.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 224.311905 m,
      bearing: 159.562867 deg,
      approach rate: -0.725728 m/s,
      LOS rate: -0.029621 deg/s,
      cmd heading: 157.087056 deg,
      new cmd heading: 157.060469 deg.

2025-09-04T18:29:09.064Z,1757010549.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.741222 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:09.270Z,1757010549.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012850
2025-09-04T18:29:09.424Z,1757010549.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:09.427Z,1757010549.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 224.064865 m,
      bearing: 159.552842 deg,
      approach rate: -0.678049 m/s,
      LOS rate: -0.027546 deg/s,
      cmd heading: 157.060473 deg,
      new cmd heading: 157.040401 deg.

2025-09-04T18:29:09.429Z,1757010549.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740872 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:09.522Z,1757010549.522 [DAT](INFO): DAT read: Rx Time:18:29:08.1672

2025-09-04T18:29:09.523Z,1757010549.523 [DAT](INFO): Rx dataTimestamp_ set to:1757010549.522105
2025-09-04T18:29:09.523Z,1757010549.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266425
2025-09-04T18:29:09.775Z,1757010549.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517962
2025-09-04T18:29:09.868Z,1757010549.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.92 m.
2025-09-04T18:29:09.871Z,1757010549.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 250.918213 m,
      nav range: 223.738831 m,
      bearing: 159.540286 deg,
      approach rate: -0.734026 m/s,
      LOS rate: -0.028310 deg/s,
      cmd heading: 157.040406 deg,
      new cmd heading: 157.015257 deg.

2025-09-04T18:29:09.873Z,1757010549.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740433 target range: 250.918213 and range: 252.00 m.
2025-09-04T18:29:10.031Z,1757010550.031 [DAT](INFO): DAT read: 18:29:08.1672 LVL= 20464, 23921, 24258, 28659, AGC= 72, IDX= 408, 0.20,-1.319,-2.659,-1.207,-2.328, PHS= 1.111,-0.286, 1.077, RAW= 148.8, -26.0, CAL= 150.3, -27.4, ROT= 359.7,  27.4

2025-09-04T18:29:10.032Z,1757010550.032 [DAT](INFO): got valid direction response:
 18:29:08.1672 LVL= 20464, 23921, 24258, 28659, AGC= 72, IDX= 408, 0.20,-1.319,-2.659,-1.207,-2.328, PHS= 1.111,-0.286, 1.077, RAW= 148.8, -26.0, CAL= 150.3, -27.4, ROT= 359.7,  27.4

2025-09-04T18:29:10.033Z,1757010550.033 [DAT](INFO): DAT read: Bearing 287.9,  -1.1 (Local)

2025-09-04T18:29:10.034Z,1757010550.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.9,  -1.1 (Local)

2025-09-04T18:29:10.035Z,1757010550.035 [DAT](INFO): DAT read: Range 11 to 50 : 249.3 m  (Round-trip  332.4 ms) speed  0.4 m/s

2025-09-04T18:29:10.036Z,1757010550.036 [DAT](INFO): DAT read: user:2799>

2025-09-04T18:29:10.037Z,1757010550.037 [DAT](INFO): DAT read: Tx time:18:29:09.2807

2025-09-04T18:29:10.037Z,1757010550.037 [DAT](INFO): Ping request sent.
2025-09-04T18:29:10.037Z,1757010550.037 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:10.038Z,1757010550.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:10.039Z,1757010550.039 [DAT](INFO): direction in FSK: [0.887803,-0.004649,-0.460200]
2025-09-04T18:29:10.039Z,1757010550.039 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:10.039Z,1757010550.039 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:10.042Z,1757010550.042 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:10.042Z,1757010550.042 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:10.262Z,1757010550.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.300003 m,
      deltaT: 3.780092 s,
      deltaX: -2.699997 m,
      approachRate: -0.714268 m/s,
      rangeRepo size: 4

2025-09-04T18:29:10.268Z,1757010550.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.228119 m,
      bearing: 156.698858 deg,
      lat: 36.779227 deg,
      lon: -121.859301 deg,
      deltaT: 3.780092 s,
      deltaX: -2.690094 m,
      approachRate: -0.711648 m/s,
      posRepo size: 4

2025-09-04T18:29:10.269Z,1757010550.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:10.271Z,1757010550.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 223.587128 m,
      bearing: 159.269578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028310 deg/s,
      cmd heading: 157.015257 deg,
      new cmd heading: 156.993001 deg.

2025-09-04T18:29:10.277Z,1757010550.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740045 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:10.651Z,1757010550.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:10.657Z,1757010550.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:10.664Z,1757010550.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 223.298264 m,
      bearing: 159.258130 deg,
      approach rate: -0.729256 m/s,
      LOS rate: -0.028938 deg/s,
      cmd heading: 156.993005 deg,
      new cmd heading: 156.970080 deg.

2025-09-04T18:29:10.665Z,1757010550.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.739645 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:10.783Z,1757010550.783 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:10.783Z,1757010550.783 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:10.785Z,1757010550.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:11.033Z,1757010551.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995792
2025-09-04T18:29:11.082Z,1757010551.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:11.085Z,1757010551.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 222.988266 m,
      bearing: 159.245933 deg,
      approach rate: -0.729533 m/s,
      LOS rate: -0.028745 deg/s,
      cmd heading: 156.970082 deg,
      new cmd heading: 156.945654 deg.

2025-09-04T18:29:11.086Z,1757010551.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.739218 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:11.285Z,1757010551.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247829
2025-09-04T18:29:11.441Z,1757010551.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:11.445Z,1757010551.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 222.733551 m,
      bearing: 159.235933 deg,
      approach rate: -0.708660 m/s,
      LOS rate: -0.027854 deg/s,
      cmd heading: 156.945658 deg,
      new cmd heading: 156.925634 deg.

2025-09-04T18:29:11.446Z,1757010551.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738869 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:11.538Z,1757010551.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500962
2025-09-04T18:29:11.792Z,1757010551.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754149
2025-09-04T18:29:11.912Z,1757010551.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:11.915Z,1757010551.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 222.408768 m,
      bearing: 159.223090 deg,
      approach rate: -0.696159 m/s,
      LOS rate: -0.027568 deg/s,
      cmd heading: 156.925632 deg,
      new cmd heading: 156.899909 deg.

2025-09-04T18:29:11.917Z,1757010551.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738420 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:12.041Z,1757010552.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003704
2025-09-04T18:29:12.242Z,1757010552.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:12.245Z,1757010552.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 222.154984 m,
      bearing: 159.213107 deg,
      approach rate: -0.758770 m/s,
      LOS rate: -0.029883 deg/s,
      cmd heading: 156.899909 deg,
      new cmd heading: 156.879919 deg.

2025-09-04T18:29:12.246Z,1757010552.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.738071 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:12.293Z,1757010552.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255828
2025-09-04T18:29:12.545Z,1757010552.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507993
2025-09-04T18:29:12.649Z,1757010552.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:12.653Z,1757010552.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 221.861023 m,
      bearing: 159.201548 deg,
      approach rate: -0.722388 m/s,
      LOS rate: -0.028443 deg/s,
      cmd heading: 156.879924 deg,
      new cmd heading: 156.856775 deg.

2025-09-04T18:29:12.653Z,1757010552.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737667 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:12.800Z,1757010552.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762125
2025-09-04T18:29:13.049Z,1757010553.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011740
2025-09-04T18:29:13.088Z,1757010553.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:13.091Z,1757010553.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:13.099Z,1757010553.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 221.547607 m,
      bearing: 159.190295 deg,
      approach rate: -0.710488 m/s,
      LOS rate: -0.025545 deg/s,
      cmd heading: 156.856770 deg,
      new cmd heading: 156.834232 deg.

2025-09-04T18:29:13.105Z,1757010553.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737274 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:13.301Z,1757010553.301 [DAT](INFO): DAT read: Rx Time:18:29:12.0140

2025-09-04T18:29:13.302Z,1757010553.302 [DAT](INFO): Rx dataTimestamp_ set to:1757010553.301675
2025-09-04T18:29:13.303Z,1757010553.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265219
2025-09-04T18:29:13.508Z,1757010553.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.23 m.
2025-09-04T18:29:13.511Z,1757010553.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.228119 m,
      nav range: 221.239532 m,
      bearing: 159.179184 deg,
      approach rate: -0.740864 m/s,
      LOS rate: -0.026757 deg/s,
      cmd heading: 156.834230 deg,
      new cmd heading: 156.811977 deg.

2025-09-04T18:29:13.513Z,1757010553.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736885 target range: 248.228119 and range: 249.30 m.
2025-09-04T18:29:13.553Z,1757010553.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515828
2025-09-04T18:29:13.852Z,1757010553.852 [DAT](INFO): DAT read: 18:29:12.0140 LVL= 26192, 28865, 24418, 28307, AGC= 67, IDX= 407,-0.05,-3.127, 1.776,-2.974, 2.412, PHS= 0.846,-0.591, 0.852, RAW= 150.2, -15.2, CAL= 151.8, -17.5, ROT= 358.2,  17.5

2025-09-04T18:29:13.854Z,1757010553.854 [DAT](INFO): got valid direction response:
 18:29:12.0140 LVL= 26192, 28865, 24418, 28307, AGC= 67, IDX= 407,-0.05,-3.127, 1.776,-2.974, 2.412, PHS= 0.846,-0.591, 0.852, RAW= 150.2, -15.2, CAL= 151.8, -17.5, ROT= 358.2,  17.5

2025-09-04T18:29:13.855Z,1757010553.855 [DAT](INFO): DAT read: Bearing 297.6,  -3.1 (Local)

2025-09-04T18:29:13.855Z,1757010553.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.6,  -3.1 (Local)

2025-09-04T18:29:13.861Z,1757010553.861 [DAT](INFO): DAT read: Range 11 to 50 : 246.9 m  (Round-trip  329.2 ms) speed  0.4 m/s

2025-09-04T18:29:13.861Z,1757010553.861 [DAT](INFO): DAT read: user:2800>

2025-09-04T18:29:13.862Z,1757010553.862 [DAT](INFO): DAT read: Tx time:18:29:13.1306

2025-09-04T18:29:13.862Z,1757010553.862 [DAT](INFO): Ping request sent.
2025-09-04T18:29:13.862Z,1757010553.862 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:13.863Z,1757010553.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:13.880Z,1757010553.880 [DAT](INFO): direction in FSK: [0.953246,-0.029957,-0.300706]
2025-09-04T18:29:13.880Z,1757010553.880 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:13.881Z,1757010553.881 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:13.883Z,1757010553.883 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:13.892Z,1757010553.892 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:14.069Z,1757010554.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.899994 m,
      deltaT: 3.810032 s,
      deltaX: -2.400009 m,
      approachRate: -0.629918 m/s,
      rangeRepo size: 4

2025-09-04T18:29:14.071Z,1757010554.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.835556 m,
      bearing: 155.373031 deg,
      lat: 36.779225 deg,
      lon: -121.859301 deg,
      deltaT: 3.810032 s,
      deltaX: -2.392563 m,
      approachRate: -0.627964 m/s,
      posRepo size: 4

2025-09-04T18:29:14.080Z,1757010554.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:14.083Z,1757010554.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 221.075516 m,
      bearing: 159.187717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026757 deg/s,
      cmd heading: 156.811977 deg,
      new cmd heading: 156.782345 deg.

2025-09-04T18:29:14.092Z,1757010554.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736368 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:14.434Z,1757010554.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:14.437Z,1757010554.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 220.786469 m,
      bearing: 159.177432 deg,
      approach rate: -0.773499 m/s,
      LOS rate: -0.027559 deg/s,
      cmd heading: 156.782348 deg,
      new cmd heading: 156.761751 deg.

2025-09-04T18:29:14.438Z,1757010554.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.736009 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:14.913Z,1757010554.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:14.916Z,1757010554.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 220.441147 m,
      bearing: 159.168256 deg,
      approach rate: -0.721214 m/s,
      LOS rate: -0.019194 deg/s,
      cmd heading: 156.761748 deg,
      new cmd heading: 156.743367 deg.

2025-09-04T18:29:14.917Z,1757010554.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735688 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:15.270Z,1757010555.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:15.277Z,1757010555.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:15.280Z,1757010555.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 220.193222 m,
      bearing: 159.161694 deg,
      approach rate: -0.681065 m/s,
      LOS rate: -0.018048 deg/s,
      cmd heading: 156.743361 deg,
      new cmd heading: 156.730221 deg.

2025-09-04T18:29:15.286Z,1757010555.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735458 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:15.349Z,1757010555.349 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:15.350Z,1757010555.350 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:15.350Z,1757010555.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:15.601Z,1757010555.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738609
2025-09-04T18:29:15.670Z,1757010555.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:15.689Z,1757010555.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 219.894104 m,
      bearing: 159.153756 deg,
      approach rate: -0.760281 m/s,
      LOS rate: -0.020202 deg/s,
      cmd heading: 156.730220 deg,
      new cmd heading: 156.714323 deg.

2025-09-04T18:29:15.690Z,1757010555.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735181 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:15.857Z,1757010555.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993306
2025-09-04T18:29:16.087Z,1757010556.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:16.105Z,1757010556.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242532
2025-09-04T18:29:16.108Z,1757010556.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 219.584702 m,
      bearing: 159.144824 deg,
      approach rate: -0.742462 m/s,
      LOS rate: -0.021464 deg/s,
      cmd heading: 156.714319 deg,
      new cmd heading: 156.696430 deg.

2025-09-04T18:29:16.113Z,1757010556.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.734869 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:16.357Z,1757010556.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494940
2025-09-04T18:29:16.493Z,1757010556.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:16.498Z,1757010556.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 219.284790 m,
      bearing: 159.136200 deg,
      approach rate: -0.738516 m/s,
      LOS rate: -0.021264 deg/s,
      cmd heading: 156.696424 deg,
      new cmd heading: 156.679153 deg.

2025-09-04T18:29:16.499Z,1757010556.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.734567 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:16.609Z,1757010556.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746730
2025-09-04T18:29:16.864Z,1757010556.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000838
2025-09-04T18:29:16.971Z,1757010556.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:16.979Z,1757010556.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 218.962540 m,
      bearing: 159.127717 deg,
      approach rate: -0.675620 m/s,
      LOS rate: -0.017813 deg/s,
      cmd heading: 156.679157 deg,
      new cmd heading: 156.662165 deg.

2025-09-04T18:29:16.984Z,1757010556.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.734271 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:17.113Z,1757010557.113 [DAT](INFO): DAT read: Rx Time:18:29:15.8609

2025-09-04T18:29:17.113Z,1757010557.113 [DAT](INFO): Rx dataTimestamp_ set to:1757010557.113207
2025-09-04T18:29:17.114Z,1757010557.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251535
2025-09-04T18:29:17.365Z,1757010557.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502556
2025-09-04T18:29:17.439Z,1757010557.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:17.461Z,1757010557.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.84 m.
2025-09-04T18:29:17.479Z,1757010557.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.835556 m,
      nav range: 218.612976 m,
      bearing: 159.118450 deg,
      approach rate: -0.738970 m/s,
      LOS rate: -0.019622 deg/s,
      cmd heading: 156.662164 deg,
      new cmd heading: 156.643600 deg.

2025-09-04T18:29:17.485Z,1757010557.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.733947 target range: 245.835556 and range: 246.90 m.
2025-09-04T18:29:17.621Z,1757010557.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757301
2025-09-04T18:29:17.891Z,1757010557.891 [DAT](INFO): DAT read: 18:29:15.8609 LVL= 32752, 31969, 30658, 32755, AGC= 69, IDX= 408,-0.11, 3.102, 1.411,-3.067, 2.124, PHS= 1.079,-0.668, 1.048, RAW= 149.1, -16.6, CAL= 150.9, -19.1, ROT= 359.1,  19.1

2025-09-04T18:29:17.895Z,1757010557.895 [DAT](INFO): got valid direction response:
 18:29:15.8609 LVL= 32752, 31969, 30658, 32755, AGC= 69, IDX= 408,-0.11, 3.102, 1.411,-3.067, 2.124, PHS= 1.079,-0.668, 1.048, RAW= 149.1, -16.6, CAL= 150.9, -19.1, ROT= 359.1,  19.1

2025-09-04T18:29:17.898Z,1757010557.898 [DAT](INFO): DAT read: Bearing 295.8,  -2.1 (Local)

2025-09-04T18:29:17.899Z,1757010557.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.8,  -2.1 (Local)

2025-09-04T18:29:17.914Z,1757010557.914 [DAT](INFO): DAT read: Range 11 to 50 : 244.5 m  (Round-trip  326.1 ms) speed  0.4 m/s

2025-09-04T18:29:17.915Z,1757010557.915 [DAT](INFO): DAT read: user:2801>

2025-09-04T18:29:17.915Z,1757010557.915 [DAT](INFO): DAT read: Tx time:18:29:16.9806

2025-09-04T18:29:17.916Z,1757010557.916 [DAT](INFO): Ping request sent.
2025-09-04T18:29:17.916Z,1757010557.916 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:17.920Z,1757010557.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:17.921Z,1757010557.921 [DAT](INFO): direction in FSK: [0.944832,-0.014842,-0.327218]
2025-09-04T18:29:17.921Z,1757010557.921 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:17.922Z,1757010557.922 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:17.937Z,1757010557.937 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:17.937Z,1757010557.937 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:17.960Z,1757010557.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.500000 m,
      deltaT: 4.035154 s,
      deltaX: -2.399994 m,
      approachRate: -0.594771 m/s,
      rangeRepo size: 4

2025-09-04T18:29:17.982Z,1757010557.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.447250 m,
      bearing: 156.038927 deg,
      lat: 36.779189 deg,
      lon: -121.859227 deg,
      deltaT: 4.035154 s,
      deltaX: -2.388306 m,
      approachRate: -0.591875 m/s,
      posRepo size: 4

2025-09-04T18:29:17.983Z,1757010557.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:17.994Z,1757010557.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 224.387512 m,
      bearing: 157.890676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019622 deg/s,
      cmd heading: 156.643599 deg,
      new cmd heading: 156.623379 deg.

2025-09-04T18:29:17.995Z,1757010557.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.733594 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:18.410Z,1757010558.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:18.415Z,1757010558.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 224.020813 m,
      bearing: 157.877963 deg,
      approach rate: -0.810682 m/s,
      LOS rate: -0.028151 deg/s,
      cmd heading: 156.623382 deg,
      new cmd heading: 156.597914 deg.

2025-09-04T18:29:18.457Z,1757010558.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.733149 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:18.772Z,1757010558.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:18.776Z,1757010558.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 223.757965 m,
      bearing: 157.868818 deg,
      approach rate: -0.727280 m/s,
      LOS rate: -0.025335 deg/s,
      cmd heading: 156.597919 deg,
      new cmd heading: 156.579606 deg.

2025-09-04T18:29:18.777Z,1757010558.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732830 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:19.175Z,1757010559.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:19.178Z,1757010559.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 223.471664 m,
      bearing: 157.859571 deg,
      approach rate: -0.711048 m/s,
      LOS rate: -0.022995 deg/s,
      cmd heading: 156.579601 deg,
      new cmd heading: 156.561083 deg.

2025-09-04T18:29:19.179Z,1757010559.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732506 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:19.636Z,1757010559.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:19.639Z,1757010559.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:19.654Z,1757010559.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 223.154343 m,
      bearing: 157.849294 deg,
      approach rate: -0.683360 m/s,
      LOS rate: -0.022163 deg/s,
      cmd heading: 156.561077 deg,
      new cmd heading: 156.540494 deg.

2025-09-04T18:29:19.655Z,1757010559.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.732147 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:19.887Z,1757010559.887 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:19.888Z,1757010559.888 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:19.889Z,1757010559.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:20.073Z,1757010560.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:20.080Z,1757010560.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 222.858917 m,
      bearing: 157.840089 deg,
      approach rate: -0.679922 m/s,
      LOS rate: -0.021213 deg/s,
      cmd heading: 156.540491 deg,
      new cmd heading: 156.522057 deg.

2025-09-04T18:29:20.081Z,1757010560.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731825 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:20.139Z,1757010560.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222960
2025-09-04T18:29:20.389Z,1757010560.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473470
2025-09-04T18:29:20.484Z,1757010560.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:20.493Z,1757010560.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 222.568665 m,
      bearing: 157.831057 deg,
      approach rate: -0.728126 m/s,
      LOS rate: -0.022687 deg/s,
      cmd heading: 156.522063 deg,
      new cmd heading: 156.503976 deg.

2025-09-04T18:29:20.495Z,1757010560.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731510 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:20.644Z,1757010560.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728043
2025-09-04T18:29:20.893Z,1757010560.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977183
2025-09-04T18:29:20.979Z,1757010560.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:20.986Z,1757010560.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 222.206238 m,
      bearing: 157.819805 deg,
      approach rate: -0.714385 m/s,
      LOS rate: -0.022215 deg/s,
      cmd heading: 156.503977 deg,
      new cmd heading: 156.481436 deg.

2025-09-04T18:29:20.987Z,1757010560.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731116 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:21.149Z,1757010561.149 [DAT](INFO): DAT read: Rx Time:18:29:19.7080

2025-09-04T18:29:21.149Z,1757010561.149 [DAT](INFO): Rx dataTimestamp_ set to:1757010561.148935
2025-09-04T18:29:21.150Z,1757010561.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234130
2025-09-04T18:29:21.343Z,1757010561.343 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,    -22.02,  20.00,245.63
2025-09-04T18:29:21.359Z,1757010561.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.45 m.
2025-09-04T18:29:21.365Z,1757010561.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.447250 m,
      nav range: 221.931763 m,
      bearing: 157.811278 deg,
      approach rate: -0.723018 m/s,
      LOS rate: -0.022491 deg/s,
      cmd heading: 156.481437 deg,
      new cmd heading: 156.464361 deg.

2025-09-04T18:29:21.366Z,1757010561.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.730818 target range: 243.447250 and range: 244.50 m.
2025-09-04T18:29:21.398Z,1757010561.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481589
2025-09-04T18:29:21.655Z,1757010561.655 [DAT](INFO): DAT read: 18:29:19.7080 LVL= 32528, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.27,-1.352,-2.743,-1.317,-2.286, PHS= 1.035,-0.412, 0.925, RAW= 146.1, -21.4, CAL= 147.4, -23.6, ROT=   2.6,  23.6

2025-09-04T18:29:21.657Z,1757010561.657 [DAT](INFO): got valid direction response:
 18:29:19.7080 LVL= 32528, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.27,-1.352,-2.743,-1.317,-2.286, PHS= 1.035,-0.412, 0.925, RAW= 146.1, -21.4, CAL= 147.4, -23.6, ROT=   2.6,  23.6

2025-09-04T18:29:21.657Z,1757010561.657 [DAT](INFO): DAT read: Bearing 291.1,   1.3 (Local)

2025-09-04T18:29:21.658Z,1757010561.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.1,   1.3 (Local)

2025-09-04T18:29:21.659Z,1757010561.659 [DAT](INFO): DAT read: Range 11 to 50 : 242.4 m  (Round-trip  323.2 ms) speed  0.8 m/s

2025-09-04T18:29:21.664Z,1757010561.664 [DAT](INFO): DAT read: user:2802>

2025-09-04T18:29:21.665Z,1757010561.665 [DAT](INFO): DAT read: Tx time:18:29:20.8306

2025-09-04T18:29:21.666Z,1757010561.666 [DAT](INFO): Ping request sent.
2025-09-04T18:29:21.666Z,1757010561.666 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:21.666Z,1757010561.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:21.667Z,1757010561.667 [DAT](INFO): direction in FSK: [0.915419,0.041569,-0.400349]
2025-09-04T18:29:21.667Z,1757010561.667 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:21.668Z,1757010561.668 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:21.671Z,1757010561.671 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:21.671Z,1757010561.671 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:21.811Z,1757010561.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 242.399994 m,
      deltaT: 3.778604 s,
      deltaX: -2.100006 m,
      approachRate: -0.555762 m/s,
      rangeRepo size: 4

2025-09-04T18:29:21.826Z,1757010561.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 241.353241 m,
      bearing: 159.188233 deg,
      lat: 36.779189 deg,
      lon: -121.859138 deg,
      deltaT: 3.778604 s,
      deltaX: -2.094009 m,
      approachRate: -0.554175 m/s,
      posRepo size: 4

2025-09-04T18:29:21.826Z,1757010561.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:21.838Z,1757010561.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 224.754730 m,
      bearing: 155.928374 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022491 deg/s,
      cmd heading: 156.464362 deg,
      new cmd heading: 156.444047 deg.

2025-09-04T18:29:21.839Z,1757010561.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.730464 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:22.233Z,1757010562.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:22.236Z,1757010562.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:22.243Z,1757010562.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 224.445831 m,
      bearing: 155.913893 deg,
      approach rate: -0.726864 m/s,
      LOS rate: -0.034123 deg/s,
      cmd heading: 156.444049 deg,
      new cmd heading: 156.415046 deg.

2025-09-04T18:29:22.244Z,1757010562.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729958 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:22.405Z,1757010562.405 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:22.405Z,1757010562.405 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:22.405Z,1757010562.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:22.497Z,1757010562.497 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:29:22.607Z,1757010562.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:22.614Z,1757010562.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 224.188873 m,
      bearing: 155.901908 deg,
      approach rate: -0.691925 m/s,
      LOS rate: -0.032309 deg/s,
      cmd heading: 156.415048 deg,
      new cmd heading: 156.391050 deg.

2025-09-04T18:29:22.615Z,1757010562.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729539 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:22.659Z,1757010562.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993205
2025-09-04T18:29:22.912Z,1757010562.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245735
2025-09-04T18:29:23.046Z,1757010563.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:23.073Z,1757010563.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 223.861618 m,
      bearing: 155.885725 deg,
      approach rate: -0.745034 m/s,
      LOS rate: -0.036896 deg/s,
      cmd heading: 156.391046 deg,
      new cmd heading: 156.358634 deg.

2025-09-04T18:29:23.074Z,1757010563.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.728973 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:23.162Z,1757010563.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496327
2025-09-04T18:29:23.421Z,1757010563.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755409
2025-09-04T18:29:23.435Z,1757010563.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:23.452Z,1757010563.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 223.600052 m,
      bearing: 155.872832 deg,
      approach rate: -0.674677 m/s,
      LOS rate: -0.033295 deg/s,
      cmd heading: 156.358630 deg,
      new cmd heading: 156.332814 deg.

2025-09-04T18:29:23.459Z,1757010563.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.728522 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:23.501Z,1757010563.501 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:29:23.673Z,1757010563.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007419
2025-09-04T18:29:23.812Z,1757010563.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:23.815Z,1757010563.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 223.309525 m,
      bearing: 155.858526 deg,
      approach rate: -0.768619 m/s,
      LOS rate: -0.037897 deg/s,
      cmd heading: 156.332812 deg,
      new cmd heading: 156.304163 deg.

2025-09-04T18:29:23.816Z,1757010563.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.728022 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:23.926Z,1757010563.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260117
2025-09-04T18:29:24.177Z,1757010564.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511300
2025-09-04T18:29:24.226Z,1757010564.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:24.229Z,1757010564.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 223.020950 m,
      bearing: 155.841865 deg,
      approach rate: -0.696420 m/s,
      LOS rate: -0.040262 deg/s,
      cmd heading: 156.304166 deg,
      new cmd heading: 156.270800 deg.

2025-09-04T18:29:24.230Z,1757010564.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727440 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:24.435Z,1757010564.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768824
2025-09-04T18:29:24.596Z,1757010564.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:24.598Z,1757010564.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:24.601Z,1757010564.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 222.762222 m,
      bearing: 155.826900 deg,
      approach rate: -0.695343 m/s,
      LOS rate: -0.040265 deg/s,
      cmd heading: 156.270794 deg,
      new cmd heading: 156.240830 deg.

2025-09-04T18:29:24.602Z,1757010564.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.726917 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:24.682Z,1757010564.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016304
2025-09-04T18:29:24.934Z,1757010564.934 [DAT](INFO): DAT read: Rx Time:18:29:23.5544

2025-09-04T18:29:24.936Z,1757010564.936 [DAT](INFO): Rx dataTimestamp_ set to:1757010564.935219
2025-09-04T18:29:24.938Z,1757010564.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272265
2025-09-04T18:29:25.072Z,1757010565.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:25.075Z,1757010565.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 222.440338 m,
      bearing: 155.806269 deg,
      approach rate: -0.679898 m/s,
      LOS rate: -0.043641 deg/s,
      cmd heading: 156.240823 deg,
      new cmd heading: 156.199502 deg.

2025-09-04T18:29:25.075Z,1757010565.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.726196 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:25.185Z,1757010565.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519572
2025-09-04T18:29:25.413Z,1757010565.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.35 m.
2025-09-04T18:29:25.417Z,1757010565.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 241.353241 m,
      nav range: 222.208801 m,
      bearing: 155.791433 deg,
      approach rate: -0.677970 m/s,
      LOS rate: -0.043488 deg/s,
      cmd heading: 156.199501 deg,
      new cmd heading: 156.169797 deg.

2025-09-04T18:29:25.418Z,1757010565.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.725677 target range: 241.353241 and range: 242.40 m.
2025-09-04T18:29:25.447Z,1757010565.447 [DAT](INFO): DAT read: 18:29:23.5544 LVL= 27296, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.02, 0.142,-1.285, 0.090,-0.733, PHS= 0.978,-0.507, 0.780, RAW= 142.9, -17.6, CAL= 143.7, -20.7, ROT=   6.3,  20.7

2025-09-04T18:29:25.449Z,1757010565.449 [DAT](INFO): got valid direction response:
 18:29:23.5544 LVL= 27296, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.02, 0.142,-1.285, 0.090,-0.733, PHS= 0.978,-0.507, 0.780, RAW= 142.9, -17.6, CAL= 143.7, -20.7, ROT=   6.3,  20.7

2025-09-04T18:29:25.451Z,1757010565.451 [DAT](INFO): DAT read: Bearing 293.8,   4.7 (Local)

2025-09-04T18:29:25.452Z,1757010565.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.8,   4.7 (Local)

2025-09-04T18:29:25.459Z,1757010565.459 [DAT](INFO): DAT read: Range 11 to 50 : 239.7 m  (Round-trip  319.7 ms) speed  0.1 m/s

2025-09-04T18:29:25.459Z,1757010565.459 [DAT](INFO): DAT read: user:2803>

2025-09-04T18:29:25.464Z,1757010565.464 [DAT](INFO): DAT read: Tx time:18:29:24.6806

2025-09-04T18:29:25.465Z,1757010565.465 [DAT](INFO): Ping request sent.
2025-09-04T18:29:25.465Z,1757010565.465 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:25.465Z,1757010565.465 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:25.466Z,1757010565.466 [DAT](INFO): direction in FSK: [0.929795,0.102650,-0.353475]
2025-09-04T18:29:25.466Z,1757010565.466 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:25.467Z,1757010565.467 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:25.494Z,1757010565.494 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:25.494Z,1757010565.494 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:25.874Z,1757010565.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.699997 m,
      deltaT: 3.788996 s,
      deltaX: -2.699997 m,
      approachRate: -0.712589 m/s,
      rangeRepo size: 4

2025-09-04T18:29:25.885Z,1757010565.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.662659 m,
      bearing: 162.735471 deg,
      lat: 36.779187 deg,
      lon: -121.859138 deg,
      deltaT: 3.788996 s,
      deltaX: -2.690582 m,
      approachRate: -0.710104 m/s,
      posRepo size: 4

2025-09-04T18:29:25.885Z,1757010565.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:25.897Z,1757010565.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 222.170410 m,
      bearing: 155.801587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043488 deg/s,
      cmd heading: 156.169803 deg,
      new cmd heading: 156.129761 deg.

2025-09-04T18:29:25.898Z,1757010565.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.724978 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:26.272Z,1757010566.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:26.275Z,1757010566.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 221.859482 m,
      bearing: 155.781924 deg,
      approach rate: -0.780047 m/s,
      LOS rate: -0.049401 deg/s,
      cmd heading: 156.129764 deg,
      new cmd heading: 156.090382 deg.

2025-09-04T18:29:26.277Z,1757010566.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.724291 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:26.644Z,1757010566.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:26.646Z,1757010566.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:26.649Z,1757010566.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 221.598602 m,
      bearing: 155.765470 deg,
      approach rate: -0.697891 m/s,
      LOS rate: -0.044068 deg/s,
      cmd heading: 156.090381 deg,
      new cmd heading: 156.057435 deg.

2025-09-04T18:29:26.650Z,1757010566.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723716 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:26.702Z,1757010566.702 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:26.702Z,1757010566.702 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:26.702Z,1757010566.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:26.955Z,1757010566.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490094
2025-09-04T18:29:27.082Z,1757010567.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:27.085Z,1757010567.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 221.288666 m,
      bearing: 155.747398 deg,
      approach rate: -0.710740 m/s,
      LOS rate: -0.041499 deg/s,
      cmd heading: 156.057433 deg,
      new cmd heading: 156.021239 deg.

2025-09-04T18:29:27.086Z,1757010567.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723084 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:27.206Z,1757010567.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741048
2025-09-04T18:29:27.457Z,1757010567.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992258
2025-09-04T18:29:27.507Z,1757010567.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:27.514Z,1757010567.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 221.004211 m,
      bearing: 155.730837 deg,
      approach rate: -0.669045 m/s,
      LOS rate: -0.039003 deg/s,
      cmd heading: 156.021233 deg,
      new cmd heading: 155.988067 deg.

2025-09-04T18:29:27.515Z,1757010567.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.722505 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:27.709Z,1757010567.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244204
2025-09-04T18:29:27.895Z,1757010567.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:27.898Z,1757010567.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 220.724152 m,
      bearing: 155.714526 deg,
      approach rate: -0.723237 m/s,
      LOS rate: -0.042176 deg/s,
      cmd heading: 155.988065 deg,
      new cmd heading: 155.955401 deg.

2025-09-04T18:29:27.899Z,1757010567.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.721935 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:27.963Z,1757010567.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497788
2025-09-04T18:29:28.213Z,1757010568.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748283
2025-09-04T18:29:28.308Z,1757010568.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:28.311Z,1757010568.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 220.416840 m,
      bearing: 155.698160 deg,
      approach rate: -0.744088 m/s,
      LOS rate: -0.039681 deg/s,
      cmd heading: 155.955403 deg,
      new cmd heading: 155.922626 deg.

2025-09-04T18:29:28.311Z,1757010568.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.721363 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:28.465Z,1757010568.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000366
2025-09-04T18:29:28.717Z,1757010568.717 [DAT](INFO): DAT read: Rx Time:18:29:27.4013

2025-09-04T18:29:28.718Z,1757010568.718 [DAT](INFO): Rx dataTimestamp_ set to:1757010568.717327
2025-09-04T18:29:28.718Z,1757010568.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253309
2025-09-04T18:29:28.727Z,1757010568.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:28.729Z,1757010568.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:28.732Z,1757010568.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 220.114822 m,
      bearing: 155.682098 deg,
      approach rate: -0.716445 m/s,
      LOS rate: -0.038154 deg/s,
      cmd heading: 155.922632 deg,
      new cmd heading: 155.890464 deg.

2025-09-04T18:29:28.733Z,1757010568.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.720802 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:28.973Z,1757010568.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508077
2025-09-04T18:29:29.121Z,1757010569.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.66 m.
2025-09-04T18:29:29.140Z,1757010569.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.662659 m,
      nav range: 219.829956 m,
      bearing: 155.668558 deg,
      approach rate: -0.726869 m/s,
      LOS rate: -0.034594 deg/s,
      cmd heading: 155.890462 deg,
      new cmd heading: 155.863346 deg.

2025-09-04T18:29:29.141Z,1757010569.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.720329 target range: 238.662659 and range: 239.70 m.
2025-09-04T18:29:29.233Z,1757010569.233 [DAT](INFO): DAT read: 18:29:27.4013 LVL= 29088, 25745, 27538, 28051, AGC= 69, IDX= 406,-0.42, 1.407,-0.114, 1.452, 0.485, PHS= 1.024,-0.554, 0.922, RAW= 146.7, -17.8, CAL= 148.2, -20.6, ROT=   1.8,  20.6

2025-09-04T18:29:29.235Z,1757010569.235 [DAT](INFO): got valid direction response:
 18:29:27.4013 LVL= 29088, 25745, 27538, 28051, AGC= 69, IDX= 406,-0.42, 1.407,-0.114, 1.452, 0.485, PHS= 1.024,-0.554, 0.922, RAW= 146.7, -17.8, CAL= 148.2, -20.6, ROT=   1.8,  20.6

2025-09-04T18:29:29.237Z,1757010569.237 [DAT](INFO): DAT read: Bearing 293.7,   0.5 (Local)

2025-09-04T18:29:29.238Z,1757010569.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,   0.5 (Local)

2025-09-04T18:29:29.253Z,1757010569.253 [DAT](INFO): DAT read: Range 11 to 50 : 237.4 m  (Round-trip  316.6 ms) speed  0.4 m/s

2025-09-04T18:29:29.254Z,1757010569.254 [DAT](INFO): DAT read: user:2804>

2025-09-04T18:29:29.255Z,1757010569.255 [DAT](INFO): DAT read: Tx time:18:29:28.5306

2025-09-04T18:29:29.255Z,1757010569.255 [DAT](INFO): Ping request sent.
2025-09-04T18:29:29.256Z,1757010569.256 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:29.264Z,1757010569.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:29.265Z,1757010569.265 [DAT](INFO): direction in FSK: [0.935598,0.029402,-0.351842]
2025-09-04T18:29:29.265Z,1757010569.265 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:29.266Z,1757010569.266 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:29.278Z,1757010569.278 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:29.279Z,1757010569.279 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:29.593Z,1757010569.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.399994 m,
      deltaT: 3.785291 s,
      deltaX: -2.300003 m,
      approachRate: -0.607616 m/s,
      rangeRepo size: 4

2025-09-04T18:29:29.596Z,1757010569.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.375214 m,
      bearing: 157.751518 deg,
      lat: 36.779187 deg,
      lon: -121.859227 deg,
      deltaT: 3.785291 s,
      deltaX: -2.287445 m,
      approachRate: -0.604298 m/s,
      posRepo size: 4

2025-09-04T18:29:29.601Z,1757010569.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:29.603Z,1757010569.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 216.379471 m,
      bearing: 157.557018 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034594 deg/s,
      cmd heading: 155.863346 deg,
      new cmd heading: 155.830702 deg.

2025-09-04T18:29:29.620Z,1757010569.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719759 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:30.008Z,1757010570.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:30.015Z,1757010570.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 216.051605 m,
      bearing: 157.544205 deg,
      approach rate: -0.790491 m/s,
      LOS rate: -0.030940 deg/s,
      cmd heading: 155.830698 deg,
      new cmd heading: 155.805032 deg.

2025-09-04T18:29:30.017Z,1757010570.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719311 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:30.412Z,1757010570.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:30.415Z,1757010570.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 215.755951 m,
      bearing: 157.534734 deg,
      approach rate: -0.731834 m/s,
      LOS rate: -0.023474 deg/s,
      cmd heading: 155.805030 deg,
      new cmd heading: 155.786063 deg.

2025-09-04T18:29:30.462Z,1757010570.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.718980 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:30.900Z,1757010570.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:30.903Z,1757010570.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:30.905Z,1757010570.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 215.405746 m,
      bearing: 157.523469 deg,
      approach rate: -0.713188 m/s,
      LOS rate: -0.022979 deg/s,
      cmd heading: 155.786069 deg,
      new cmd heading: 155.763502 deg.

2025-09-04T18:29:30.906Z,1757010570.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.718586 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:30.985Z,1757010570.985 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:30.985Z,1757010570.985 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:30.985Z,1757010570.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:31.237Z,1757010571.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981576
2025-09-04T18:29:31.293Z,1757010571.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:31.300Z,1757010571.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 215.127121 m,
      bearing: 157.514511 deg,
      approach rate: -0.713259 m/s,
      LOS rate: -0.022962 deg/s,
      cmd heading: 155.763502 deg,
      new cmd heading: 155.745563 deg.

2025-09-04T18:29:31.301Z,1757010571.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.718273 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:31.490Z,1757010571.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234085
2025-09-04T18:29:31.686Z,1757010571.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:31.689Z,1757010571.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 214.825882 m,
      bearing: 157.504785 deg,
      approach rate: -0.766092 m/s,
      LOS rate: -0.024769 deg/s,
      cmd heading: 155.745566 deg,
      new cmd heading: 155.726087 deg.

2025-09-04T18:29:31.690Z,1757010571.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717933 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:31.742Z,1757010571.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486598
2025-09-04T18:29:31.993Z,1757010571.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737660
2025-09-04T18:29:32.162Z,1757010572.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:32.177Z,1757010572.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 214.472839 m,
      bearing: 157.496863 deg,
      approach rate: -0.742361 m/s,
      LOS rate: -0.016685 deg/s,
      cmd heading: 155.726086 deg,
      new cmd heading: 155.710217 deg.

2025-09-04T18:29:32.178Z,1757010572.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717656 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:32.247Z,1757010572.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991211
2025-09-04T18:29:32.498Z,1757010572.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242468
2025-09-04T18:29:32.546Z,1757010572.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:32.550Z,1757010572.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 214.187805 m,
      bearing: 157.490407 deg,
      approach rate: -0.742141 m/s,
      LOS rate: -0.016832 deg/s,
      cmd heading: 155.710213 deg,
      new cmd heading: 155.697284 deg.

2025-09-04T18:29:32.551Z,1757010572.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717430 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:32.749Z,1757010572.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493887
2025-09-04T18:29:32.924Z,1757010572.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:32.928Z,1757010572.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:32.934Z,1757010572.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 213.911392 m,
      bearing: 157.484084 deg,
      approach rate: -0.723960 m/s,
      LOS rate: -0.016582 deg/s,
      cmd heading: 155.697290 deg,
      new cmd heading: 155.684628 deg.

2025-09-04T18:29:32.935Z,1757010572.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717209 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:33.001Z,1757010573.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745717
2025-09-04T18:29:33.253Z,1757010573.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997647
2025-09-04T18:29:33.372Z,1757010573.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:33.393Z,1757010573.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 213.596756 m,
      bearing: 157.475401 deg,
      approach rate: -0.709100 m/s,
      LOS rate: -0.019598 deg/s,
      cmd heading: 155.684627 deg,
      new cmd heading: 155.667236 deg.

2025-09-04T18:29:33.395Z,1757010573.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716906 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:33.506Z,1757010573.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.250513
2025-09-04T18:29:33.754Z,1757010573.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:33.757Z,1757010573.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.502056
2025-09-04T18:29:33.759Z,1757010573.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 213.309525 m,
      bearing: 157.467503 deg,
      approach rate: -0.750781 m/s,
      LOS rate: -0.020673 deg/s,
      cmd heading: 155.667238 deg,
      new cmd heading: 155.651419 deg.

2025-09-04T18:29:33.761Z,1757010573.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716630 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:34.009Z,1757010574.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.753929
2025-09-04T18:29:34.261Z,1757010574.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.005702
2025-09-04T18:29:34.291Z,1757010574.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:34.294Z,1757010574.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 212.916595 m,
      bearing: 157.457048 deg,
      approach rate: -0.732329 m/s,
      LOS rate: -0.019520 deg/s,
      cmd heading: 155.651419 deg,
      new cmd heading: 155.630472 deg.

2025-09-04T18:29:34.295Z,1757010574.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716264 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:34.513Z,1757010574.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.257681
2025-09-04T18:29:34.644Z,1757010574.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:34.647Z,1757010574.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 212.668045 m,
      bearing: 157.450449 deg,
      approach rate: -0.711018 m/s,
      LOS rate: -0.018900 deg/s,
      cmd heading: 155.630477 deg,
      new cmd heading: 155.617264 deg.

2025-09-04T18:29:34.652Z,1757010574.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716034 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:34.766Z,1757010574.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.510376
2025-09-04T18:29:35.017Z,1757010575.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.761741
2025-09-04T18:29:35.026Z,1757010575.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:35.053Z,1757010575.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:35.056Z,1757010575.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 212.377213 m,
      bearing: 157.442764 deg,
      approach rate: -0.705151 m/s,
      LOS rate: -0.018658 deg/s,
      cmd heading: 155.617268 deg,
      new cmd heading: 155.601877 deg.

2025-09-04T18:29:35.057Z,1757010575.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715765 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:35.269Z,1757010575.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.013604
2025-09-04T18:29:35.521Z,1757010575.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.265900
2025-09-04T18:29:35.563Z,1757010575.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:35.570Z,1757010575.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 212.016479 m,
      bearing: 157.430922 deg,
      approach rate: -0.752295 m/s,
      LOS rate: -0.024738 deg/s,
      cmd heading: 155.601873 deg,
      new cmd heading: 155.578148 deg.

2025-09-04T18:29:35.571Z,1757010575.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715351 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:35.776Z,1757010575.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.520444
2025-09-04T18:29:35.903Z,1757010575.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:35.925Z,1757010575.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 211.751083 m,
      bearing: 157.422202 deg,
      approach rate: -0.715089 m/s,
      LOS rate: -0.023527 deg/s,
      cmd heading: 155.578145 deg,
      new cmd heading: 155.560681 deg.

2025-09-04T18:29:35.926Z,1757010575.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715046 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:36.026Z,1757010576.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.771041
2025-09-04T18:29:36.277Z,1757010576.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.021696
2025-09-04T18:29:36.331Z,1757010576.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:36.354Z,1757010576.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 211.447083 m,
      bearing: 157.410703 deg,
      approach rate: -0.710717 m/s,
      LOS rate: -0.026921 deg/s,
      cmd heading: 155.560687 deg,
      new cmd heading: 155.537656 deg.

2025-09-04T18:29:36.355Z,1757010576.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714644 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:36.529Z,1757010576.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.273587
2025-09-04T18:29:36.723Z,1757010576.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:36.726Z,1757010576.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 211.168701 m,
      bearing: 157.400208 deg,
      approach rate: -0.711189 m/s,
      LOS rate: -0.026847 deg/s,
      cmd heading: 155.537655 deg,
      new cmd heading: 155.516638 deg.

2025-09-04T18:29:36.727Z,1757010576.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714277 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:36.782Z,1757010576.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.526575
2025-09-04T18:29:37.033Z,1757010577.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.777706
2025-09-04T18:29:37.169Z,1757010577.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:37.182Z,1757010577.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:37.193Z,1757010577.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 210.884201 m,
      bearing: 157.389499 deg,
      approach rate: -0.622277 m/s,
      LOS rate: -0.023456 deg/s,
      cmd heading: 155.516632 deg,
      new cmd heading: 155.495184 deg.

2025-09-04T18:29:37.194Z,1757010577.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.713903 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:37.286Z,1757010577.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.030597
2025-09-04T18:29:37.537Z,1757010577.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.281595
2025-09-04T18:29:37.595Z,1757010577.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:37.598Z,1757010577.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 210.548645 m,
      bearing: 157.376189 deg,
      approach rate: -0.808752 m/s,
      LOS rate: -0.032129 deg/s,
      cmd heading: 155.495185 deg,
      new cmd heading: 155.468524 deg.

2025-09-04T18:29:37.599Z,1757010577.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.713438 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:37.789Z,1757010577.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.533994
2025-09-04T18:29:37.957Z,1757010577.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:37.960Z,1757010577.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 210.290878 m,
      bearing: 157.366011 deg,
      approach rate: -0.711406 m/s,
      LOS rate: -0.028125 deg/s,
      cmd heading: 155.468520 deg,
      new cmd heading: 155.448139 deg.

2025-09-04T18:29:37.964Z,1757010577.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.713082 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:38.041Z,1757010578.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.785656
2025-09-04T18:29:38.293Z,1757010578.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.037935
2025-09-04T18:29:38.379Z,1757010578.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:38.383Z,1757010578.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 209.991196 m,
      bearing: 157.353178 deg,
      approach rate: -0.709384 m/s,
      LOS rate: -0.030420 deg/s,
      cmd heading: 155.448139 deg,
      new cmd heading: 155.422437 deg.

2025-09-04T18:29:38.383Z,1757010578.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.712633 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:38.545Z,1757010578.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.289848
2025-09-04T18:29:38.756Z,1757010578.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:38.759Z,1757010578.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 209.723785 m,
      bearing: 157.341842 deg,
      approach rate: -0.709738 m/s,
      LOS rate: -0.030127 deg/s,
      cmd heading: 155.422444 deg,
      new cmd heading: 155.399742 deg.

2025-09-04T18:29:38.760Z,1757010578.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.712237 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:38.798Z,1757010578.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.542369
2025-09-04T18:29:39.050Z,1757010579.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.794285
2025-09-04T18:29:39.217Z,1757010579.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:39.219Z,1757010579.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:39.226Z,1757010579.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 209.426849 m,
      bearing: 157.329250 deg,
      approach rate: -0.641173 m/s,
      LOS rate: -0.027229 deg/s,
      cmd heading: 155.399740 deg,
      new cmd heading: 155.374520 deg.

2025-09-04T18:29:39.227Z,1757010579.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711797 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:39.301Z,1757010579.301 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:39.302Z,1757010579.302 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:39.302Z,1757010579.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:39.553Z,1757010579.553 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:39.553Z,1757010579.553 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:39.553Z,1757010579.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:39.627Z,1757010579.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:39.630Z,1757010579.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 209.102570 m,
      bearing: 157.315632 deg,
      approach rate: -0.795464 m/s,
      LOS rate: -0.033457 deg/s,
      cmd heading: 155.374523 deg,
      new cmd heading: 155.347244 deg.

2025-09-04T18:29:39.631Z,1757010579.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711321 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:39.805Z,1757010579.805 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:39.805Z,1757010579.805 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:39.805Z,1757010579.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:39.989Z,1757010579.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:39.991Z,1757010579.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 208.857925 m,
      bearing: 157.305424 deg,
      approach rate: -0.676381 m/s,
      LOS rate: -0.028255 deg/s,
      cmd heading: 155.347243 deg,
      new cmd heading: 155.326803 deg.

2025-09-04T18:29:40.021Z,1757010580.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710964 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:40.057Z,1757010580.057 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:40.057Z,1757010580.057 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:40.057Z,1757010580.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:40.310Z,1757010580.310 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:40.310Z,1757010580.310 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:40.310Z,1757010580.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:40.441Z,1757010580.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:40.448Z,1757010580.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 208.536407 m,
      bearing: 157.290575 deg,
      approach rate: -0.718926 m/s,
      LOS rate: -0.033254 deg/s,
      cmd heading: 155.326807 deg,
      new cmd heading: 155.297064 deg.

2025-09-04T18:29:40.450Z,1757010580.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710445 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:40.561Z,1757010580.561 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:40.562Z,1757010580.562 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:40.562Z,1757010580.562 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:40.805Z,1757010580.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:40.808Z,1757010580.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 208.263840 m,
      bearing: 157.278071 deg,
      approach rate: -0.737916 m/s,
      LOS rate: -0.033894 deg/s,
      cmd heading: 155.297069 deg,
      new cmd heading: 155.272029 deg.

2025-09-04T18:29:40.809Z,1757010580.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710008 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:40.813Z,1757010580.813 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:40.813Z,1757010580.813 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:40.813Z,1757010580.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:41.065Z,1757010581.065 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:41.065Z,1757010581.065 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:41.065Z,1757010581.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:41.295Z,1757010581.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:41.297Z,1757010581.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:41.300Z,1757010581.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 207.917847 m,
      bearing: 157.260628 deg,
      approach rate: -0.702975 m/s,
      LOS rate: -0.035501 deg/s,
      cmd heading: 155.272029 deg,
      new cmd heading: 155.237083 deg.

2025-09-04T18:29:41.301Z,1757010581.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709398 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:41.317Z,1757010581.317 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:41.317Z,1757010581.317 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:41.317Z,1757010581.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:41.571Z,1757010581.571 [DAT](INFO): Reached modem response timeout
2025-09-04T18:29:41.571Z,1757010581.571 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:29:41.571Z,1757010581.571 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:41.771Z,1757010581.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:41.774Z,1757010581.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 207.585052 m,
      bearing: 157.243905 deg,
      approach rate: -0.702747 m/s,
      LOS rate: -0.035368 deg/s,
      cmd heading: 155.237086 deg,
      new cmd heading: 155.203588 deg.

2025-09-04T18:29:41.776Z,1757010581.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708814 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:41.821Z,1757010581.821 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:29:41.822Z,1757010581.822 [DAT](INFO): response not received
2025-09-04T18:29:41.822Z,1757010581.822 [DAT](INFO): DAT read: user:2805>

2025-09-04T18:29:41.823Z,1757010581.823 [DAT](INFO): DAT read: Tx time:18:29:40.9805

2025-09-04T18:29:41.823Z,1757010581.823 [DAT](INFO): Ping request sent.
2025-09-04T18:29:41.823Z,1757010581.823 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:41.823Z,1757010581.823 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:41.824Z,1757010581.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-09-04T18:29:42.073Z,1757010582.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250142
2025-09-04T18:29:42.325Z,1757010582.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501979
2025-09-04T18:29:42.350Z,1757010582.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:42.353Z,1757010582.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 207.164093 m,
      bearing: 157.223270 deg,
      approach rate: -0.727668 m/s,
      LOS rate: -0.035742 deg/s,
      cmd heading: 155.203591 deg,
      new cmd heading: 155.162236 deg.

2025-09-04T18:29:42.353Z,1757010582.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708092 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:42.577Z,1757010582.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754049
2025-09-04T18:29:42.727Z,1757010582.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:42.730Z,1757010582.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 206.889496 m,
      bearing: 157.209820 deg,
      approach rate: -0.726801 m/s,
      LOS rate: -0.035646 deg/s,
      cmd heading: 155.162241 deg,
      new cmd heading: 155.135305 deg.

2025-09-04T18:29:42.731Z,1757010582.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707622 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:42.830Z,1757010582.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006497
2025-09-04T18:29:43.081Z,1757010583.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258016
2025-09-04T18:29:43.145Z,1757010583.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:43.148Z,1757010583.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 206.597336 m,
      bearing: 157.195524 deg,
      approach rate: -0.699157 m/s,
      LOS rate: -0.034261 deg/s,
      cmd heading: 155.135302 deg,
      new cmd heading: 155.106669 deg.

2025-09-04T18:29:43.149Z,1757010583.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707122 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:43.333Z,1757010583.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509953
2025-09-04T18:29:43.571Z,1757010583.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:43.578Z,1757010583.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:43.581Z,1757010583.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 206.295395 m,
      bearing: 157.180542 deg,
      approach rate: -0.698241 m/s,
      LOS rate: -0.034696 deg/s,
      cmd heading: 155.106670 deg,
      new cmd heading: 155.076663 deg.

2025-09-04T18:29:43.582Z,1757010583.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706598 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:43.585Z,1757010583.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762025
2025-09-04T18:29:43.837Z,1757010583.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014073
2025-09-04T18:29:44.007Z,1757010584.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:44.010Z,1757010584.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 205.970749 m,
      bearing: 157.164417 deg,
      approach rate: -0.755305 m/s,
      LOS rate: -0.037575 deg/s,
      cmd heading: 155.076658 deg,
      new cmd heading: 155.044357 deg.

2025-09-04T18:29:44.011Z,1757010584.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706034 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:44.090Z,1757010584.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266717
2025-09-04T18:29:44.341Z,1757010584.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517928
2025-09-04T18:29:44.413Z,1757010584.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:44.428Z,1757010584.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 205.698212 m,
      bearing: 157.152258 deg,
      approach rate: -0.680875 m/s,
      LOS rate: -0.030416 deg/s,
      cmd heading: 155.044352 deg,
      new cmd heading: 155.020002 deg.

2025-09-04T18:29:44.429Z,1757010584.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705609 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:44.593Z,1757010584.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769934
2025-09-04T18:29:44.759Z,1757010584.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:44.762Z,1757010584.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 205.426254 m,
      bearing: 157.140125 deg,
      approach rate: -0.773604 m/s,
      LOS rate: -0.034560 deg/s,
      cmd heading: 155.019995 deg,
      new cmd heading: 154.995696 deg.

2025-09-04T18:29:44.763Z,1757010584.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705185 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:44.846Z,1757010584.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022658
2025-09-04T18:29:45.097Z,1757010585.097 [DAT](INFO): DAT read: Rx Time:18:29:43.6883

2025-09-04T18:29:45.097Z,1757010585.097 [DAT](INFO): Rx dataTimestamp_ set to:1757010585.097169
2025-09-04T18:29:45.098Z,1757010585.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274882
2025-09-04T18:29:45.198Z,1757010585.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.38 m.
2025-09-04T18:29:45.201Z,1757010585.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.375214 m,
      nav range: 205.109100 m,
      bearing: 157.125976 deg,
      approach rate: -0.723669 m/s,
      LOS rate: -0.032334 deg/s,
      cmd heading: 154.995693 deg,
      new cmd heading: 154.967352 deg.

2025-09-04T18:29:45.202Z,1757010585.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704690 target range: 236.375214 and range: 237.40 m.
2025-09-04T18:29:45.349Z,1757010585.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526022
2025-09-04T18:29:45.607Z,1757010585.607 [DAT](INFO): DAT read: 18:29:43.6883 LVL= 30576, 23393, 23954, 24115, AGC= 71, IDX= 276,-0.31, 2.680, 1.312, 2.724, 1.463, PHS= 1.318,-0.106, 1.217, RAW= 146.3, -32.0, CAL= 147.5, -32.4, ROT=   2.5,  32.4

2025-09-04T18:29:45.608Z,1757010585.608 [DAT](INFO): got valid direction response:
 18:29:43.6883 LVL= 30576, 23393, 23954, 24115, AGC= 71, IDX= 276,-0.31, 2.680, 1.312, 2.724, 1.463, PHS= 1.318,-0.106, 1.217, RAW= 146.3, -32.0, CAL= 147.5, -32.4, ROT=   2.5,  32.4

2025-09-04T18:29:45.609Z,1757010585.609 [DAT](INFO): DAT read: Bearing 281.5,   1.7 (Local)

2025-09-04T18:29:45.609Z,1757010585.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.5,   1.7 (Local)

2025-09-04T18:29:45.611Z,1757010585.611 [DAT](INFO): DAT read: Range 11 to 50 : 227.7 m  (Round-trip  303.7 ms) speed  0.4 m/s

2025-09-04T18:29:45.611Z,1757010585.611 [DAT](INFO): DAT read: user:2806>

2025-09-04T18:29:45.613Z,1757010585.613 [DAT](INFO): DAT read: Tx time:18:29:44.7805

2025-09-04T18:29:45.613Z,1757010585.613 [DAT](INFO): Ping request sent.
2025-09-04T18:29:45.613Z,1757010585.613 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:45.614Z,1757010585.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:45.615Z,1757010585.615 [DAT](INFO): direction in FSK: [0.843524,0.036829,-0.535827]
2025-09-04T18:29:45.615Z,1757010585.615 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:45.615Z,1757010585.615 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:45.618Z,1757010585.618 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:45.618Z,1757010585.618 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:45.695Z,1757010585.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.699997 m,
      deltaT: 16.377703 s,
      deltaX: -9.699997 m,
      approachRate: -0.592268 m/s,
      rangeRepo size: 4

2025-09-04T18:29:45.702Z,1757010585.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.734421 m,
      bearing: 157.065391 deg,
      lat: 36.779187 deg,
      lon: -121.859299 deg,
      deltaT: 16.377703 s,
      deltaX: -9.640793 m,
      approachRate: -0.588654 m/s,
      posRepo size: 4

2025-09-04T18:29:45.703Z,1757010585.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:45.709Z,1757010585.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 202.333527 m,
      bearing: 158.791340 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032334 deg/s,
      cmd heading: 154.967348 deg,
      new cmd heading: 154.935192 deg.

2025-09-04T18:29:45.710Z,1757010585.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704129 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:46.051Z,1757010586.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:46.053Z,1757010586.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:46.056Z,1757010586.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 202.052383 m,
      bearing: 158.783085 deg,
      approach rate: -0.783873 m/s,
      LOS rate: -0.023047 deg/s,
      cmd heading: 154.935192 deg,
      new cmd heading: 154.918659 deg.

2025-09-04T18:29:46.057Z,1757010586.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703841 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:46.108Z,1757010586.108 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:46.108Z,1757010586.108 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:46.108Z,1757010586.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:46.357Z,1757010586.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744088
2025-09-04T18:29:46.482Z,1757010586.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:46.487Z,1757010586.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 201.740341 m,
      bearing: 158.773071 deg,
      approach rate: -0.728023 m/s,
      LOS rate: -0.023400 deg/s,
      cmd heading: 154.918662 deg,
      new cmd heading: 154.898604 deg.

2025-09-04T18:29:46.488Z,1757010586.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703491 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:46.609Z,1757010586.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996063
2025-09-04T18:29:46.854Z,1757010586.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:46.857Z,1757010586.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 201.461304 m,
      bearing: 158.764156 deg,
      approach rate: -0.749287 m/s,
      LOS rate: -0.023972 deg/s,
      cmd heading: 154.898609 deg,
      new cmd heading: 154.880754 deg.

2025-09-04T18:29:46.859Z,1757010586.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703179 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:46.861Z,1757010586.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247954
2025-09-04T18:29:47.115Z,1757010587.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500930
2025-09-04T18:29:47.278Z,1757010587.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:47.308Z,1757010587.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 201.156830 m,
      bearing: 158.754403 deg,
      approach rate: -0.720679 m/s,
      LOS rate: -0.023120 deg/s,
      cmd heading: 154.880755 deg,
      new cmd heading: 154.861220 deg.

2025-09-04T18:29:47.312Z,1757010587.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702838 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:47.367Z,1757010587.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753577
2025-09-04T18:29:47.617Z,1757010587.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004043
2025-09-04T18:29:47.701Z,1757010587.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:47.703Z,1757010587.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 200.832977 m,
      bearing: 158.744562 deg,
      approach rate: -0.764259 m/s,
      LOS rate: -0.023263 deg/s,
      cmd heading: 154.861221 deg,
      new cmd heading: 154.841506 deg.

2025-09-04T18:29:47.705Z,1757010587.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702494 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:47.869Z,1757010587.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255635
2025-09-04T18:29:48.070Z,1757010588.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:48.073Z,1757010588.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:48.075Z,1757010588.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 200.555206 m,
      bearing: 158.736082 deg,
      approach rate: -0.746700 m/s,
      LOS rate: -0.022826 deg/s,
      cmd heading: 154.841509 deg,
      new cmd heading: 154.824526 deg.

2025-09-04T18:29:48.076Z,1757010588.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702198 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:48.122Z,1757010588.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508554
2025-09-04T18:29:48.377Z,1757010588.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763407
2025-09-04T18:29:48.528Z,1757010588.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:48.531Z,1757010588.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 200.238678 m,
      bearing: 158.727803 deg,
      approach rate: -0.720921 m/s,
      LOS rate: -0.018887 deg/s,
      cmd heading: 154.824529 deg,
      new cmd heading: 154.807943 deg.

2025-09-04T18:29:48.532Z,1757010588.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701908 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:48.625Z,1757010588.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011924
2025-09-04T18:29:48.877Z,1757010588.877 [DAT](INFO): DAT read: Rx Time:18:29:47.4856

2025-09-04T18:29:48.878Z,1757010588.878 [DAT](INFO): Rx dataTimestamp_ set to:1757010588.877259
2025-09-04T18:29:48.878Z,1757010588.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264822
2025-09-04T18:29:49.019Z,1757010589.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.73 m.
2025-09-04T18:29:49.022Z,1757010589.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.734421 m,
      nav range: 199.881897 m,
      bearing: 158.718438 deg,
      approach rate: -0.703825 m/s,
      LOS rate: -0.018507 deg/s,
      cmd heading: 154.807945 deg,
      new cmd heading: 154.789182 deg.

2025-09-04T18:29:49.023Z,1757010589.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701581 target range: 226.734421 and range: 227.70 m.
2025-09-04T18:29:49.129Z,1757010589.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515837
2025-09-04T18:29:49.392Z,1757010589.392 [DAT](INFO): DAT read: 18:29:47.4855 LVL= 32752, 32753, 31442, 32755, AGC= 70, IDX= 406, 0.37, 1.772, 0.434, 1.737, 0.733, PHS= 1.141,-0.254, 0.960, RAW= 143.2, -26.4, CAL= 144.2, -27.9, ROT=   5.8,  27.9

2025-09-04T18:29:49.394Z,1757010589.394 [DAT](INFO): got valid direction response:
 18:29:47.4855 LVL= 32752, 32753, 31442, 32755, AGC= 70, IDX= 406, 0.37, 1.772, 0.434, 1.737, 0.733, PHS= 1.141,-0.254, 0.960, RAW= 143.2, -26.4, CAL= 144.2, -27.9, ROT=   5.8,  27.9

2025-09-04T18:29:49.400Z,1757010589.400 [DAT](INFO): DAT read: Bearing 285.9,   4.8 (Local)

2025-09-04T18:29:49.401Z,1757010589.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.9,   4.8 (Local)

2025-09-04T18:29:49.410Z,1757010589.410 [DAT](INFO): DAT read: Range 11 to 50 : 225.6 m  (Round-trip  300.9 ms) speed  0.5 m/s

2025-09-04T18:29:49.411Z,1757010589.411 [DAT](INFO): DAT read: user:2807>

2025-09-04T18:29:49.437Z,1757010589.437 [DAT](INFO): DAT read: Tx time:18:29:48.5804

2025-09-04T18:29:49.437Z,1757010589.437 [DAT](INFO): Ping request sent.
2025-09-04T18:29:49.437Z,1757010589.437 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:49.437Z,1757010589.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:49.438Z,1757010589.438 [DAT](INFO): direction in FSK: [0.879241,0.089310,-0.467930]
2025-09-04T18:29:49.439Z,1757010589.439 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:49.439Z,1757010589.439 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:49.462Z,1757010589.462 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:49.462Z,1757010589.462 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:49.566Z,1757010589.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.600006 m,
      deltaT: 3.780814 s,
      deltaX: -2.099991 m,
      approachRate: -0.555434 m/s,
      rangeRepo size: 4

2025-09-04T18:29:49.570Z,1757010589.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 224.641937 m,
      bearing: 160.386819 deg,
      lat: 36.779202 deg,
      lon: -121.859300 deg,
      deltaT: 3.780814 s,
      deltaX: -2.092484 m,
      approachRate: -0.553448 m/s,
      posRepo size: 4

2025-09-04T18:29:49.571Z,1757010589.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:49.584Z,1757010589.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 197.905487 m,
      bearing: 158.553694 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018507 deg/s,
      cmd heading: 154.789176 deg,
      new cmd heading: 154.768929 deg.

2025-09-04T18:29:49.585Z,1757010589.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701227 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:49.982Z,1757010589.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:50.017Z,1757010590.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 197.563599 m,
      bearing: 158.544463 deg,
      approach rate: -0.820995 m/s,
      LOS rate: -0.022203 deg/s,
      cmd heading: 154.768931 deg,
      new cmd heading: 154.750439 deg.

2025-09-04T18:29:50.018Z,1757010590.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700905 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:50.507Z,1757010590.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:50.509Z,1757010590.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:50.512Z,1757010590.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 197.200439 m,
      bearing: 158.534792 deg,
      approach rate: -0.688752 m/s,
      LOS rate: -0.018375 deg/s,
      cmd heading: 154.750435 deg,
      new cmd heading: 154.731057 deg.

2025-09-04T18:29:50.513Z,1757010590.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700566 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:50.641Z,1757010590.641 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:50.641Z,1757010590.641 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:50.641Z,1757010590.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:50.857Z,1757010590.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:50.860Z,1757010590.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 196.935883 m,
      bearing: 158.527769 deg,
      approach rate: -0.760348 m/s,
      LOS rate: -0.020214 deg/s,
      cmd heading: 154.731051 deg,
      new cmd heading: 154.716984 deg.

2025-09-04T18:29:50.861Z,1757010590.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700321 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:50.894Z,1757010590.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457357
2025-09-04T18:29:51.145Z,1757010591.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708403
2025-09-04T18:29:51.274Z,1757010591.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:51.276Z,1757010591.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 196.634048 m,
      bearing: 158.519732 deg,
      approach rate: -0.749085 m/s,
      LOS rate: -0.019976 deg/s,
      cmd heading: 154.716981 deg,
      new cmd heading: 154.700882 deg.

2025-09-04T18:29:51.277Z,1757010591.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700040 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:51.405Z,1757010591.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960757
2025-09-04T18:29:51.649Z,1757010591.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212009
2025-09-04T18:29:51.699Z,1757010591.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:51.706Z,1757010591.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 196.331619 m,
      bearing: 158.512694 deg,
      approach rate: -0.689676 m/s,
      LOS rate: -0.016074 deg/s,
      cmd heading: 154.700889 deg,
      new cmd heading: 154.686791 deg.

2025-09-04T18:29:51.707Z,1757010591.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699794 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:51.902Z,1757010591.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465171
2025-09-04T18:29:52.062Z,1757010592.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:52.065Z,1757010592.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 196.048584 m,
      bearing: 158.506129 deg,
      approach rate: -0.778288 m/s,
      LOS rate: -0.018079 deg/s,
      cmd heading: 154.686791 deg,
      new cmd heading: 154.673642 deg.

2025-09-04T18:29:52.066Z,1757010592.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699564 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:52.154Z,1757010592.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717002
2025-09-04T18:29:52.409Z,1757010592.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970773
2025-09-04T18:29:52.516Z,1757010592.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:52.518Z,1757010592.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:52.521Z,1757010592.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 195.720566 m,
      bearing: 158.496419 deg,
      approach rate: -0.719494 m/s,
      LOS rate: -0.021334 deg/s,
      cmd heading: 154.673636 deg,
      new cmd heading: 154.654184 deg.

2025-09-04T18:29:52.522Z,1757010592.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699225 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:52.657Z,1757010592.657 [DAT](INFO): DAT read: Rx Time:18:29:51.2824

2025-09-04T18:29:52.658Z,1757010592.658 [DAT](INFO): Rx dataTimestamp_ set to:1757010592.657285
2025-09-04T18:29:52.658Z,1757010592.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221086
2025-09-04T18:29:52.888Z,1757010592.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 224.64 m.
2025-09-04T18:29:52.893Z,1757010592.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 224.641937 m,
      nav range: 195.460083 m,
      bearing: 158.488731 deg,
      approach rate: -0.706122 m/s,
      LOS rate: -0.020868 deg/s,
      cmd heading: 154.654184 deg,
      new cmd heading: 154.638788 deg.

2025-09-04T18:29:52.894Z,1757010592.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698956 target range: 224.641937 and range: 225.60 m.
2025-09-04T18:29:52.909Z,1757010592.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472074
2025-09-04T18:29:53.167Z,1757010593.167 [DAT](INFO): DAT read: 18:29:51.2824 LVL= 21264, 24545, 20130, 23571, AGC= 66, IDX= 406, 0.22,-2.246, 2.725,-2.239, 3.015, PHS= 1.125,-0.244, 0.986, RAW= 144.7, -26.8, CAL= 145.8, -28.1, ROT=   4.2,  28.1

2025-09-04T18:29:53.169Z,1757010593.169 [DAT](INFO): got valid direction response:
 18:29:51.2824 LVL= 21264, 24545, 20130, 23571, AGC= 66, IDX= 406, 0.22,-2.246, 2.725,-2.239, 3.015, PHS= 1.125,-0.244, 0.986, RAW= 144.7, -26.8, CAL= 145.8, -28.1, ROT=   4.2,  28.1

2025-09-04T18:29:53.170Z,1757010593.170 [DAT](INFO): DAT read: Bearing 285.3,   3.6 (Local)

2025-09-04T18:29:53.170Z,1757010593.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.3,   3.6 (Local)

2025-09-04T18:29:53.172Z,1757010593.172 [DAT](INFO): DAT read: Range 11 to 50 : 223.3 m  (Round-trip  297.8 ms) speed  0.4 m/s

2025-09-04T18:29:53.173Z,1757010593.173 [DAT](INFO): DAT read: user:2808>

2025-09-04T18:29:53.173Z,1757010593.173 [DAT](INFO): DAT read: Tx time:18:29:52.3804

2025-09-04T18:29:53.174Z,1757010593.174 [DAT](INFO): Ping request sent.
2025-09-04T18:29:53.174Z,1757010593.174 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:53.174Z,1757010593.174 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:53.175Z,1757010593.175 [DAT](INFO): direction in FSK: [0.879758,0.064605,-0.471012]
2025-09-04T18:29:53.175Z,1757010593.175 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:53.176Z,1757010593.176 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:53.222Z,1757010593.222 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:53.222Z,1757010593.222 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:53.323Z,1757010593.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.300003 m,
      deltaT: 3.779234 s,
      deltaX: -2.300003 m,
      approachRate: -0.608590 m/s,
      rangeRepo size: 4

2025-09-04T18:29:53.333Z,1757010593.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 222.354187 m,
      bearing: 158.352603 deg,
      lat: 36.779202 deg,
      lon: -121.859302 deg,
      deltaT: 3.779234 s,
      deltaX: -2.287750 m,
      approachRate: -0.605348 m/s,
      posRepo size: 4

2025-09-04T18:29:53.334Z,1757010593.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:53.345Z,1757010593.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 195.102142 m,
      bearing: 158.525886 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020868 deg/s,
      cmd heading: 154.638789 deg,
      new cmd heading: 154.620637 deg.

2025-09-04T18:29:53.346Z,1757010593.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698639 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:53.633Z,1757010593.633 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:29:53.787Z,1757010593.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:53.790Z,1757010593.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 194.744370 m,
      bearing: 158.516600 deg,
      approach rate: -0.770030 m/s,
      LOS rate: -0.020022 deg/s,
      cmd heading: 154.620634 deg,
      new cmd heading: 154.602029 deg.

2025-09-04T18:29:53.791Z,1757010593.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698314 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:54.145Z,1757010594.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:54.147Z,1757010594.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 194.486145 m,
      bearing: 158.509945 deg,
      approach rate: -0.721602 m/s,
      LOS rate: -0.018622 deg/s,
      cmd heading: 154.602029 deg,
      new cmd heading: 154.588701 deg.

2025-09-04T18:29:54.149Z,1757010594.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698082 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:54.570Z,1757010594.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:54.573Z,1757010594.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:54.575Z,1757010594.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 194.175049 m,
      bearing: 158.502272 deg,
      approach rate: -0.727397 m/s,
      LOS rate: -0.017971 deg/s,
      cmd heading: 154.588696 deg,
      new cmd heading: 154.573324 deg.

2025-09-04T18:29:54.576Z,1757010594.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697814 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:54.636Z,1757010594.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:29:54.673Z,1757010594.673 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:54.673Z,1757010594.673 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:54.674Z,1757010594.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:54.925Z,1757010594.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751725
2025-09-04T18:29:54.991Z,1757010594.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:55.002Z,1757010595.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 193.888031 m,
      bearing: 158.495242 deg,
      approach rate: -0.685455 m/s,
      LOS rate: -0.016814 deg/s,
      cmd heading: 154.573328 deg,
      new cmd heading: 154.559247 deg.

2025-09-04T18:29:55.003Z,1757010595.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697568 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:55.177Z,1757010595.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003321
2025-09-04T18:29:55.361Z,1757010595.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:55.364Z,1757010595.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 193.602676 m,
      bearing: 158.488316 deg,
      approach rate: -0.771535 m/s,
      LOS rate: -0.018754 deg/s,
      cmd heading: 154.559244 deg,
      new cmd heading: 154.545372 deg.

2025-09-04T18:29:55.365Z,1757010595.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697325 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:55.432Z,1757010595.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257418
2025-09-04T18:29:55.681Z,1757010595.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507332
2025-09-04T18:29:55.794Z,1757010595.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:55.801Z,1757010595.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 193.304245 m,
      bearing: 158.478918 deg,
      approach rate: -0.689010 m/s,
      LOS rate: -0.021731 deg/s,
      cmd heading: 154.545365 deg,
      new cmd heading: 154.526541 deg.

2025-09-04T18:29:55.805Z,1757010595.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696997 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:55.933Z,1757010595.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759360
2025-09-04T18:29:56.182Z,1757010596.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:56.185Z,1757010596.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011426
2025-09-04T18:29:56.189Z,1757010596.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 193.029907 m,
      bearing: 158.470354 deg,
      approach rate: -0.707277 m/s,
      LOS rate: -0.022110 deg/s,
      cmd heading: 154.526541 deg,
      new cmd heading: 154.509389 deg.

2025-09-04T18:29:56.190Z,1757010596.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696697 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:56.440Z,1757010596.440 [DAT](INFO): DAT read: Rx Time:18:29:55.0795

2025-09-04T18:29:56.442Z,1757010596.442 [DAT](INFO): Rx dataTimestamp_ set to:1757010596.441062
2025-09-04T18:29:56.445Z,1757010596.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269818
2025-09-04T18:29:56.581Z,1757010596.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:56.583Z,1757010596.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.35 m.
2025-09-04T18:29:56.586Z,1757010596.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 222.354187 m,
      nav range: 192.731644 m,
      bearing: 158.462485 deg,
      approach rate: -0.743080 m/s,
      LOS rate: -0.019636 deg/s,
      cmd heading: 154.509384 deg,
      new cmd heading: 154.493621 deg.

2025-09-04T18:29:56.588Z,1757010596.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696422 target range: 222.354187 and range: 223.30 m.
2025-09-04T18:29:56.689Z,1757010596.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515434
2025-09-04T18:29:56.947Z,1757010596.947 [DAT](INFO): DAT read: 18:29:55.0795 LVL= 21936, 19857, 17682, 19395, AGC= 64, IDX= 408, 0.44, 2.634, 1.220, 2.548, 1.598, PHS= 1.139,-0.333, 0.907, RAW= 141.6, -23.8, CAL= 142.3, -25.8, ROT=   7.7,  25.8

2025-09-04T18:29:56.948Z,1757010596.948 [DAT](INFO): got valid direction response:
 18:29:55.0795 LVL= 21936, 19857, 17682, 19395, AGC= 64, IDX= 408, 0.44, 2.634, 1.220, 2.548, 1.598, PHS= 1.139,-0.333, 0.907, RAW= 141.6, -23.8, CAL= 142.3, -25.8, ROT=   7.7,  25.8

2025-09-04T18:29:56.949Z,1757010596.949 [DAT](INFO): DAT read: Bearing 287.4,   6.8 (Local)

2025-09-04T18:29:56.949Z,1757010596.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.4,   6.8 (Local)

2025-09-04T18:29:56.951Z,1757010596.951 [DAT](INFO): DAT read: Range 11 to 50 : 221.2 m  (Round-trip  295.0 ms) speed  0.8 m/s

2025-09-04T18:29:56.951Z,1757010596.951 [DAT](INFO): DAT read: user:2809>

2025-09-04T18:29:56.952Z,1757010596.952 [DAT](INFO): DAT read: Tx time:18:29:56.1804

2025-09-04T18:29:56.953Z,1757010596.953 [DAT](INFO): Ping request sent.
2025-09-04T18:29:56.953Z,1757010596.953 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:29:56.953Z,1757010596.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:29:56.954Z,1757010596.954 [DAT](INFO): direction in FSK: [0.892201,0.120630,-0.435231]
2025-09-04T18:29:56.954Z,1757010596.954 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:56.954Z,1757010596.954 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:56.958Z,1757010596.958 [DAT](INFO): publishing transmit ping time
2025-09-04T18:29:56.958Z,1757010596.958 [DAT](INFO): publishing direction and range info
2025-09-04T18:29:57.046Z,1757010597.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.199997 m,
      deltaT: 3.779988 s,
      deltaX: -2.100006 m,
      approachRate: -0.555559 m/s,
      rangeRepo size: 4

2025-09-04T18:29:57.052Z,1757010597.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.263351 m,
      bearing: 161.537486 deg,
      lat: 36.779202 deg,
      lon: -121.859302 deg,
      deltaT: 3.779988 s,
      deltaX: -2.090836 m,
      approachRate: -0.553133 m/s,
      posRepo size: 4

2025-09-04T18:29:57.053Z,1757010597.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:57.055Z,1757010597.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 192.442123 m,
      bearing: 158.454917 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019636 deg/s,
      cmd heading: 154.493620 deg,
      new cmd heading: 154.475482 deg.

2025-09-04T18:29:57.061Z,1757010597.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696106 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:57.466Z,1757010597.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:57.493Z,1757010597.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 192.140091 m,
      bearing: 158.447026 deg,
      approach rate: -0.735278 m/s,
      LOS rate: -0.019242 deg/s,
      cmd heading: 154.475479 deg,
      new cmd heading: 154.459670 deg.

2025-09-04T18:29:57.495Z,1757010597.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695830 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:57.878Z,1757010597.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:57.900Z,1757010597.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 191.837860 m,
      bearing: 158.438005 deg,
      approach rate: -0.716860 m/s,
      LOS rate: -0.021430 deg/s,
      cmd heading: 154.459674 deg,
      new cmd heading: 154.441604 deg.

2025-09-04T18:29:57.901Z,1757010597.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695514 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:58.250Z,1757010598.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:58.253Z,1757010598.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 191.543350 m,
      bearing: 158.429206 deg,
      approach rate: -0.790550 m/s,
      LOS rate: -0.023655 deg/s,
      cmd heading: 154.441601 deg,
      new cmd heading: 154.423976 deg.

2025-09-04T18:29:58.254Z,1757010598.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695207 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:58.668Z,1757010598.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:29:58.671Z,1757010598.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:58.674Z,1757010598.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 191.233353 m,
      bearing: 158.418758 deg,
      approach rate: -0.737110 m/s,
      LOS rate: -0.024884 deg/s,
      cmd heading: 154.423979 deg,
      new cmd heading: 154.403049 deg.

2025-09-04T18:29:58.675Z,1757010598.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694842 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:58.708Z,1757010598.708 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:29:58.708Z,1757010598.708 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:29:58.709Z,1757010598.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:29:58.957Z,1757010598.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004403
2025-09-04T18:29:59.074Z,1757010599.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:59.078Z,1757010599.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 190.939331 m,
      bearing: 158.408924 deg,
      approach rate: -0.728070 m/s,
      LOS rate: -0.024389 deg/s,
      cmd heading: 154.403051 deg,
      new cmd heading: 154.383353 deg.

2025-09-04T18:29:59.079Z,1757010599.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694498 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:59.209Z,1757010599.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256194
2025-09-04T18:29:59.465Z,1757010599.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512007
2025-09-04T18:29:59.525Z,1757010599.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:59.527Z,1757010599.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 190.650223 m,
      bearing: 158.399260 deg,
      approach rate: -0.642076 m/s,
      LOS rate: -0.021495 deg/s,
      cmd heading: 154.383353 deg,
      new cmd heading: 154.363996 deg.

2025-09-04T18:29:59.533Z,1757010599.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694160 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:59.713Z,1757010599.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760395
2025-09-04T18:29:59.922Z,1757010599.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:29:59.941Z,1757010599.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 190.338928 m,
      bearing: 158.388615 deg,
      approach rate: -0.783963 m/s,
      LOS rate: -0.026851 deg/s,
      cmd heading: 154.363996 deg,
      new cmd heading: 154.342672 deg.

2025-09-04T18:29:59.942Z,1757010599.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693788 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:29:59.965Z,1757010599.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012568
2025-09-04T18:30:00.217Z,1757010600.217 [DAT](INFO): DAT read: Rx Time:18:29:58.8764

2025-09-04T18:30:00.217Z,1757010600.217 [DAT](INFO): Rx dataTimestamp_ set to:1757010600.217111
2025-09-04T18:30:00.218Z,1757010600.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265278
2025-09-04T18:30:00.285Z,1757010600.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.26 m.
2025-09-04T18:30:00.288Z,1757010600.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.263351 m,
      nav range: 190.056702 m,
      bearing: 158.379027 deg,
      approach rate: -0.776280 m/s,
      LOS rate: -0.026411 deg/s,
      cmd heading: 154.342673 deg,
      new cmd heading: 154.323468 deg.

2025-09-04T18:30:00.289Z,1757010600.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693453 target range: 220.263351 and range: 221.20 m.
2025-09-04T18:30:00.469Z,1757010600.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516741
2025-09-04T18:30:00.727Z,1757010600.727 [DAT](INFO): DAT read: 18:29:58.8764 LVL= 24560, 32753, 29538, 32755, AGC= 69, IDX= 409, 0.09,-1.233,-2.584,-1.333,-2.239, PHS= 1.108,-0.300, 0.862, RAW= 140.6, -24.4, CAL= 141.3, -26.3, ROT=   8.7,  26.3

2025-09-04T18:30:00.728Z,1757010600.728 [DAT](INFO): got valid direction response:
 18:29:58.8764 LVL= 24560, 32753, 29538, 32755, AGC= 69, IDX= 409, 0.09,-1.233,-2.584,-1.333,-2.239, PHS= 1.108,-0.300, 0.862, RAW= 140.6, -24.4, CAL= 141.3, -26.3, ROT=   8.7,  26.3

2025-09-04T18:30:00.729Z,1757010600.729 [DAT](INFO): DAT read: Bearing 286.8,   7.7 (Local)

2025-09-04T18:30:00.729Z,1757010600.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.8,   7.7 (Local)

2025-09-04T18:30:00.731Z,1757010600.731 [DAT](INFO): DAT read: Range 11 to 50 : 218.8 m  (Round-trip  291.8 ms) speed  0.4 m/s

2025-09-04T18:30:00.732Z,1757010600.732 [DAT](INFO): DAT read: user:2810>

2025-09-04T18:30:00.761Z,1757010600.761 [DAT](INFO): DAT read: Tx time:18:29:59.9804

2025-09-04T18:30:00.761Z,1757010600.761 [DAT](INFO): Ping request sent.
2025-09-04T18:30:00.762Z,1757010600.762 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:00.762Z,1757010600.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:00.763Z,1757010600.763 [DAT](INFO): direction in FSK: [0.886171,0.135603,-0.443071]
2025-09-04T18:30:00.763Z,1757010600.763 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:00.763Z,1757010600.763 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:00.779Z,1757010600.779 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:00.779Z,1757010600.779 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:00.847Z,1757010600.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.800003 m,
      deltaT: 3.780033 s,
      deltaX: -2.399994 m,
      approachRate: -0.634914 m/s,
      rangeRepo size: 4

2025-09-04T18:30:00.886Z,1757010600.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 217.872101 m,
      bearing: 162.264904 deg,
      lat: 36.779202 deg,
      lon: -121.859375 deg,
      deltaT: 3.780033 s,
      deltaX: -2.391251 m,
      approachRate: -0.632600 m/s,
      posRepo size: 4

2025-09-04T18:30:00.896Z,1757010600.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:00.899Z,1757010600.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 187.352844 m,
      bearing: 160.225080 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026411 deg/s,
      cmd heading: 154.323466 deg,
      new cmd heading: 154.293847 deg.

2025-09-04T18:30:00.900Z,1757010600.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692936 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:01.302Z,1757010601.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:01.309Z,1757010601.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:01.320Z,1757010601.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 187.024704 m,
      bearing: 160.214124 deg,
      approach rate: -0.708671 m/s,
      LOS rate: -0.023703 deg/s,
      cmd heading: 154.293850 deg,
      new cmd heading: 154.271899 deg.

2025-09-04T18:30:01.321Z,1757010601.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692553 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:01.479Z,1757010601.479 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:01.479Z,1757010601.479 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:01.481Z,1757010601.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:01.679Z,1757010601.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:01.729Z,1757010601.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967480
2025-09-04T18:30:01.741Z,1757010601.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 186.713150 m,
      bearing: 160.204978 deg,
      approach rate: -0.842673 m/s,
      LOS rate: -0.024779 deg/s,
      cmd heading: 154.271898 deg,
      new cmd heading: 154.253576 deg.

2025-09-04T18:30:01.742Z,1757010601.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692233 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:01.983Z,1757010601.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221137
2025-09-04T18:30:02.085Z,1757010602.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:02.087Z,1757010602.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 186.411133 m,
      bearing: 160.196159 deg,
      approach rate: -0.743980 m/s,
      LOS rate: -0.021761 deg/s,
      cmd heading: 154.253580 deg,
      new cmd heading: 154.235912 deg.

2025-09-04T18:30:02.089Z,1757010602.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691925 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:02.233Z,1757010602.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471685
2025-09-04T18:30:02.486Z,1757010602.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724612
2025-09-04T18:30:02.573Z,1757010602.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:02.576Z,1757010602.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 186.101166 m,
      bearing: 160.187164 deg,
      approach rate: -0.634882 m/s,
      LOS rate: -0.018453 deg/s,
      cmd heading: 154.235917 deg,
      new cmd heading: 154.217898 deg.

2025-09-04T18:30:02.585Z,1757010602.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691610 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:02.591Z,1757010602.591 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-09-04T18:20:02.4Z
2025-09-04T18:30:02.591Z,1757010602.591 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-09-04T18:30:02.592Z,1757010602.592 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:30:02.592Z,1757010602.592 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-09-04T18:30:02.600Z,1757010602.600 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:30:02.600Z,1757010602.600 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-09-04T18:30:02.737Z,1757010602.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975483
2025-09-04T18:30:02.979Z,1757010602.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:02.982Z,1757010602.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 185.751266 m,
      bearing: 160.179331 deg,
      approach rate: -0.862146 m/s,
      LOS rate: -0.019338 deg/s,
      cmd heading: 154.217899 deg,
      new cmd heading: 154.202202 deg.

2025-09-04T18:30:02.983Z,1757010602.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691336 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:02.987Z,1757010602.987 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-04T18:30:02.987Z,1757010602.987 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-09-04T18:30:02.987Z,1757010602.987 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-09-04T18:30:02.987Z,1757010602.987 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:30:02.987Z,1757010602.987 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-09-04T18:30:02.998Z,1757010602.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236267
2025-09-04T18:30:03.250Z,1757010603.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488092
2025-09-04T18:30:03.502Z,1757010603.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740279
2025-09-04T18:30:03.695Z,1757010603.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:03.697Z,1757010603.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:03.700Z,1757010603.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 185.218735 m,
      bearing: 160.168427 deg,
      approach rate: -0.741372 m/s,
      LOS rate: -0.015223 deg/s,
      cmd heading: 154.202203 deg,
      new cmd heading: 154.180333 deg.

2025-09-04T18:30:03.701Z,1757010603.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690954 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:03.753Z,1757010603.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991492
2025-09-04T18:30:04.005Z,1757010604.005 [DAT](INFO): DAT read: Rx Time:18:30:02.6740

2025-09-04T18:30:04.006Z,1757010604.006 [DAT](INFO): Rx dataTimestamp_ set to:1757010604.005687
2025-09-04T18:30:04.007Z,1757010604.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245192
2025-09-04T18:30:04.098Z,1757010604.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.87 m.
2025-09-04T18:30:04.101Z,1757010604.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.872101 m,
      nav range: 184.923767 m,
      bearing: 160.162460 deg,
      approach rate: -0.736499 m/s,
      LOS rate: -0.014922 deg/s,
      cmd heading: 154.180333 deg,
      new cmd heading: 154.168380 deg.

2025-09-04T18:30:04.102Z,1757010604.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690746 target range: 217.872101 and range: 218.80 m.
2025-09-04T18:30:04.257Z,1757010604.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495417
2025-09-04T18:30:04.515Z,1757010604.515 [DAT](INFO): DAT read: 18:30:02.6740 LVL= 25904, 27121, 25058, 25507, AGC= 69, IDX= 413, 0.05, 1.055,-0.354, 0.956,-0.163, PHS= 1.320,-0.146, 1.075, RAW= 141.0, -30.3, CAL= 142.0, -31.0, ROT=   8.0,  31.0

2025-09-04T18:30:04.516Z,1757010604.516 [DAT](INFO): got valid direction response:
 18:30:02.6740 LVL= 25904, 27121, 25058, 25507, AGC= 69, IDX= 413, 0.05, 1.055,-0.354, 0.956,-0.163, PHS= 1.320,-0.146, 1.075, RAW= 141.0, -30.3, CAL= 142.0, -31.0, ROT=   8.0,  31.0

2025-09-04T18:30:04.517Z,1757010604.517 [DAT](INFO): DAT read: Bearing 281.9,   7.1 (Local)

2025-09-04T18:30:04.517Z,1757010604.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.9,   7.1 (Local)

2025-09-04T18:30:04.519Z,1757010604.519 [DAT](INFO): DAT read: Range 11 to 50 : 217.0 m  (Round-trip  289.4 ms) speed  0.3 m/s

2025-09-04T18:30:04.522Z,1757010604.522 [DAT](INFO): DAT read: user:2811>

2025-09-04T18:30:04.532Z,1757010604.532 [DAT](INFO): DAT read: Tx time:18:30:03.7804

2025-09-04T18:30:04.532Z,1757010604.532 [DAT](INFO): Ping request sent.
2025-09-04T18:30:04.532Z,1757010604.532 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:04.533Z,1757010604.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:04.534Z,1757010604.534 [DAT](INFO): direction in FSK: [0.848825,0.119295,-0.515038]
2025-09-04T18:30:04.534Z,1757010604.534 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:04.535Z,1757010604.535 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:04.598Z,1757010604.598 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:04.599Z,1757010604.599 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:04.673Z,1757010604.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 217.000000 m,
      deltaT: 3.787875 s,
      deltaX: -1.800003 m,
      approachRate: -0.475201 m/s,
      rangeRepo size: 4

2025-09-04T18:30:04.675Z,1757010604.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 216.081482 m,
      bearing: 161.121762 deg,
      lat: 36.779202 deg,
      lon: -121.859397 deg,
      deltaT: 3.787875 s,
      deltaX: -1.790619 m,
      approachRate: -0.472724 m/s,
      posRepo size: 4

2025-09-04T18:30:04.684Z,1757010604.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:04.687Z,1757010604.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 183.856979 m,
      bearing: 160.735140 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014922 deg/s,
      cmd heading: 154.168380 deg,
      new cmd heading: 154.151217 deg.

2025-09-04T18:30:04.692Z,1757010604.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690446 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:05.109Z,1757010605.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:05.111Z,1757010605.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 183.525681 m,
      bearing: 160.730443 deg,
      approach rate: -0.767759 m/s,
      LOS rate: -0.010907 deg/s,
      cmd heading: 154.151222 deg,
      new cmd heading: 154.141810 deg.

2025-09-04T18:30:05.117Z,1757010605.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690282 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:05.436Z,1757010605.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:05.439Z,1757010605.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 183.259430 m,
      bearing: 160.726686 deg,
      approach rate: -0.802117 m/s,
      LOS rate: -0.011335 deg/s,
      cmd heading: 154.141810 deg,
      new cmd heading: 154.134285 deg.

2025-09-04T18:30:05.440Z,1757010605.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690151 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:05.884Z,1757010605.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:05.890Z,1757010605.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:05.897Z,1757010605.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 182.946594 m,
      bearing: 160.723441 deg,
      approach rate: -0.689518 m/s,
      LOS rate: -0.007163 deg/s,
      cmd heading: 154.134284 deg,
      new cmd heading: 154.127784 deg.

2025-09-04T18:30:05.898Z,1757010605.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690037 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:06.021Z,1757010606.021 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:06.021Z,1757010606.021 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:06.021Z,1757010606.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:06.269Z,1757010606.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:06.271Z,1757010606.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 182.666397 m,
      bearing: 160.720541 deg,
      approach rate: -0.739734 m/s,
      LOS rate: -0.007669 deg/s,
      cmd heading: 154.127781 deg,
      new cmd heading: 154.121971 deg.

2025-09-04T18:30:06.273Z,1757010606.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740719
2025-09-04T18:30:06.276Z,1757010606.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689936 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:06.525Z,1757010606.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992691
2025-09-04T18:30:06.689Z,1757010606.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:06.692Z,1757010606.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 182.338852 m,
      bearing: 160.717929 deg,
      approach rate: -0.779606 m/s,
      LOS rate: -0.006228 deg/s,
      cmd heading: 154.121976 deg,
      new cmd heading: 154.116742 deg.

2025-09-04T18:30:06.693Z,1757010606.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689845 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:06.778Z,1757010606.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245239
2025-09-04T18:30:07.029Z,1757010607.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496657
2025-09-04T18:30:07.054Z,1757010607.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:07.058Z,1757010607.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 182.069214 m,
      bearing: 160.715747 deg,
      approach rate: -0.737926 m/s,
      LOS rate: -0.005978 deg/s,
      cmd heading: 154.116744 deg,
      new cmd heading: 154.112375 deg.

2025-09-04T18:30:07.059Z,1757010607.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689768 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:07.281Z,1757010607.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748851
2025-09-04T18:30:07.459Z,1757010607.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:07.462Z,1757010607.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 181.770721 m,
      bearing: 160.713377 deg,
      approach rate: -0.736767 m/s,
      LOS rate: -0.005861 deg/s,
      cmd heading: 154.112372 deg,
      new cmd heading: 154.107623 deg.

2025-09-04T18:30:07.463Z,1757010607.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689685 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:07.533Z,1757010607.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000722
2025-09-04T18:30:07.785Z,1757010607.785 [DAT](INFO): DAT read: Rx Time:18:30:06.4706

2025-09-04T18:30:07.786Z,1757010607.786 [DAT](INFO): Rx dataTimestamp_ set to:1757010607.785489
2025-09-04T18:30:07.786Z,1757010607.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253920
2025-09-04T18:30:07.913Z,1757010607.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:07.915Z,1757010607.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m.
2025-09-04T18:30:07.934Z,1757010607.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.081482 m,
      nav range: 181.431046 m,
      bearing: 160.711013 deg,
      approach rate: -0.745229 m/s,
      LOS rate: -0.005196 deg/s,
      cmd heading: 154.107618 deg,
      new cmd heading: 154.102882 deg.

2025-09-04T18:30:07.935Z,1757010607.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689603 target range: 216.081482 and range: 217.00 m.
2025-09-04T18:30:08.038Z,1757010608.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505929
2025-09-04T18:30:08.295Z,1757010608.295 [DAT](INFO): DAT read: 18:30:06.4706 LVL= 23904, 31441, 24626, 29011, AGC= 66, IDX= 414,-0.29, 2.534, 1.288, 2.569, 1.554, PHS= 1.083,-0.220, 0.971, RAW= 145.6, -27.4, CAL= 146.8, -28.6, ROT=   3.2,  28.6

2025-09-04T18:30:08.296Z,1757010608.296 [DAT](INFO): got valid direction response:
 18:30:06.4706 LVL= 23904, 31441, 24626, 29011, AGC= 66, IDX= 414,-0.29, 2.534, 1.288, 2.569, 1.554, PHS= 1.083,-0.220, 0.971, RAW= 145.6, -27.4, CAL= 146.8, -28.6, ROT=   3.2,  28.6

2025-09-04T18:30:08.297Z,1757010608.297 [DAT](INFO): DAT read: Bearing 284.1,   2.9 (Local)

2025-09-04T18:30:08.297Z,1757010608.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.1,   2.9 (Local)

2025-09-04T18:30:08.299Z,1757010608.299 [DAT](INFO): DAT read: Range 11 to 50 : 214.5 m  (Round-trip  286.0 ms) speed  0.3 m/s

2025-09-04T18:30:08.299Z,1757010608.299 [DAT](INFO): DAT read: user:2812>

2025-09-04T18:30:08.300Z,1757010608.300 [DAT](INFO): DAT read: Tx time:18:30:07.5804

2025-09-04T18:30:08.300Z,1757010608.300 [DAT](INFO): Ping request sent.
2025-09-04T18:30:08.301Z,1757010608.301 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:08.301Z,1757010608.301 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:08.302Z,1757010608.302 [DAT](INFO): direction in FSK: [0.876614,0.049010,-0.478692]
2025-09-04T18:30:08.302Z,1757010608.302 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:08.302Z,1757010608.302 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:08.306Z,1757010608.306 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:08.306Z,1757010608.306 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:08.440Z,1757010608.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.500000 m,
      deltaT: 3.780058 s,
      deltaX: -2.500000 m,
      approachRate: -0.661366 m/s,
      rangeRepo size: 4

2025-09-04T18:30:08.442Z,1757010608.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.591782 m,
      bearing: 156.309278 deg,
      lat: 36.779205 deg,
      lon: -121.859397 deg,
      deltaT: 3.780058 s,
      deltaX: -2.489700 m,
      approachRate: -0.658641 m/s,
      posRepo size: 4

2025-09-04T18:30:08.443Z,1757010608.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:08.455Z,1757010608.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 180.730148 m,
      bearing: 160.670521 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005196 deg/s,
      cmd heading: 154.102878 deg,
      new cmd heading: 154.097516 deg.

2025-09-04T18:30:08.456Z,1757010608.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689509 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:08.904Z,1757010608.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:08.907Z,1757010608.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 180.385834 m,
      bearing: 160.667223 deg,
      approach rate: -0.741259 m/s,
      LOS rate: -0.007115 deg/s,
      cmd heading: 154.097510 deg,
      new cmd heading: 154.090900 deg.

2025-09-04T18:30:08.916Z,1757010608.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689394 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:09.249Z,1757010609.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:09.252Z,1757010609.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 180.116470 m,
      bearing: 160.664679 deg,
      approach rate: -0.761333 m/s,
      LOS rate: -0.007202 deg/s,
      cmd heading: 154.090898 deg,
      new cmd heading: 154.085802 deg.

2025-09-04T18:30:09.253Z,1757010609.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689305 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:09.718Z,1757010609.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:09.721Z,1757010609.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 179.771652 m,
      bearing: 160.660008 deg,
      approach rate: -0.735461 m/s,
      LOS rate: -0.009981 deg/s,
      cmd heading: 154.085803 deg,
      new cmd heading: 154.076444 deg.

2025-09-04T18:30:09.722Z,1757010609.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689141 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:10.056Z,1757010610.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:10.058Z,1757010610.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:10.061Z,1757010610.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 179.523514 m,
      bearing: 160.656666 deg,
      approach rate: -0.729795 m/s,
      LOS rate: -0.009845 deg/s,
      cmd heading: 154.076445 deg,
      new cmd heading: 154.069751 deg.

2025-09-04T18:30:10.062Z,1757010610.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689024 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:10.305Z,1757010610.305 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:10.306Z,1757010610.306 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:10.306Z,1757010610.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:10.453Z,1757010610.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:10.455Z,1757010610.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 179.233215 m,
      bearing: 160.652763 deg,
      approach rate: -0.736521 m/s,
      LOS rate: -0.009918 deg/s,
      cmd heading: 154.069752 deg,
      new cmd heading: 154.061934 deg.

2025-09-04T18:30:10.474Z,1757010610.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688888 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:10.558Z,1757010610.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256947
2025-09-04T18:30:10.809Z,1757010610.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508509
2025-09-04T18:30:10.899Z,1757010610.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:10.903Z,1757010610.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 178.911484 m,
      bearing: 160.647251 deg,
      approach rate: -0.719820 m/s,
      LOS rate: -0.012353 deg/s,
      cmd heading: 154.061938 deg,
      new cmd heading: 154.050895 deg.

2025-09-04T18:30:10.904Z,1757010610.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688695 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:11.061Z,1757010611.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760615
2025-09-04T18:30:11.269Z,1757010611.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:11.272Z,1757010611.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 178.644745 m,
      bearing: 160.642737 deg,
      approach rate: -0.721821 m/s,
      LOS rate: -0.012234 deg/s,
      cmd heading: 154.050901 deg,
      new cmd heading: 154.041859 deg.

2025-09-04T18:30:11.273Z,1757010611.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688538 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:11.314Z,1757010611.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012769
2025-09-04T18:30:11.565Z,1757010611.565 [DAT](INFO): DAT read: Rx Time:18:30:10.2676

2025-09-04T18:30:11.566Z,1757010611.566 [DAT](INFO): Rx dataTimestamp_ set to:1757010611.565379
2025-09-04T18:30:11.566Z,1757010611.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265662
2025-09-04T18:30:11.749Z,1757010611.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.59 m.
2025-09-04T18:30:11.752Z,1757010611.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 213.591782 m,
      nav range: 178.310150 m,
      bearing: 160.636103 deg,
      approach rate: -0.697197 m/s,
      LOS rate: -0.013851 deg/s,
      cmd heading: 154.041857 deg,
      new cmd heading: 154.028563 deg.

2025-09-04T18:30:11.757Z,1757010611.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688306 target range: 213.591782 and range: 214.50 m.
2025-09-04T18:30:11.818Z,1757010611.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517490
2025-09-04T18:30:12.102Z,1757010612.102 [DAT](INFO): DAT read: 18:30:10.2676 LVL= 32416, 31281, 31442, 32563, AGC= 70, IDX= 415,-0.11,-2.129, 2.820,-2.297, 2.980, PHS= 1.276,-0.115, 0.962, RAW= 137.5, -30.7, CAL= 138.5, -31.3, ROT=  11.5,  31.3

2025-09-04T18:30:12.103Z,1757010612.103 [DAT](INFO): got valid direction response:
 18:30:10.2676 LVL= 32416, 31281, 31442, 32563, AGC= 70, IDX= 415,-0.11,-2.129, 2.820,-2.297, 2.980, PHS= 1.276,-0.115, 0.962, RAW= 137.5, -30.7, CAL= 138.5, -31.3, ROT=  11.5,  31.3

2025-09-04T18:30:12.108Z,1757010612.108 [DAT](INFO): DAT read: Bearing 281.0,  10.1 (Local)

2025-09-04T18:30:12.109Z,1757010612.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.0,  10.1 (Local)

2025-09-04T18:30:12.110Z,1757010612.110 [DAT](INFO): DAT read: Range 11 to 50 : 212.3 m  (Round-trip  283.1 ms) speed  0.8 m/s

2025-09-04T18:30:12.111Z,1757010612.111 [DAT](INFO): DAT read: user:2813>

2025-09-04T18:30:12.112Z,1757010612.112 [DAT](INFO): DAT read: Tx time:18:30:11.3803

2025-09-04T18:30:12.120Z,1757010612.120 [DAT](INFO): Ping request sent.
2025-09-04T18:30:12.120Z,1757010612.120 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:12.121Z,1757010612.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:12.122Z,1757010612.122 [DAT](INFO): direction in FSK: [0.837305,0.170352,-0.519519]
2025-09-04T18:30:12.122Z,1757010612.122 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:12.122Z,1757010612.122 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:12.129Z,1757010612.129 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:12.130Z,1757010612.130 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:12.135Z,1757010612.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 212.300003 m,
      deltaT: 3.781720 s,
      deltaX: -2.199997 m,
      approachRate: -0.581745 m/s,
      rangeRepo size: 4

2025-09-04T18:30:12.138Z,1757010612.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 211.399979 m,
      bearing: 164.313556 deg,
      lat: 36.779168 deg,
      lon: -121.859413 deg,
      deltaT: 3.781720 s,
      deltaX: -2.191803 m,
      approachRate: -0.579578 m/s,
      posRepo size: 4

2025-09-04T18:30:12.139Z,1757010612.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:12.142Z,1757010612.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 181.451645 m,
      bearing: 161.488130 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013851 deg/s,
      cmd heading: 154.028566 deg,
      new cmd heading: 154.017900 deg.

2025-09-04T18:30:12.143Z,1757010612.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688119 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:12.538Z,1757010612.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:12.541Z,1757010612.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 181.154449 m,
      bearing: 161.483832 deg,
      approach rate: -0.736084 m/s,
      LOS rate: -0.010662 deg/s,
      cmd heading: 154.017897 deg,
      new cmd heading: 154.009288 deg.

2025-09-04T18:30:12.542Z,1757010612.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687969 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:12.957Z,1757010612.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:12.959Z,1757010612.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:12.966Z,1757010612.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 180.860046 m,
      bearing: 161.478789 deg,
      approach rate: -0.698959 m/s,
      LOS rate: -0.011994 deg/s,
      cmd heading: 154.009291 deg,
      new cmd heading: 153.999188 deg.

2025-09-04T18:30:12.969Z,1757010612.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687793 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:13.077Z,1757010613.077 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:13.077Z,1757010613.077 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:13.077Z,1757010613.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:13.329Z,1757010613.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208967
2025-09-04T18:30:13.342Z,1757010613.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:13.347Z,1757010613.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 180.577148 m,
      bearing: 161.473959 deg,
      approach rate: -0.740334 m/s,
      LOS rate: -0.012660 deg/s,
      cmd heading: 153.999182 deg,
      new cmd heading: 153.989507 deg.

2025-09-04T18:30:13.349Z,1757010613.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687624 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:13.581Z,1757010613.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.461092
2025-09-04T18:30:13.773Z,1757010613.773 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +265.35,3    +27.19,   7.99,  0.00
2025-09-04T18:30:13.833Z,1757010613.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713095
2025-09-04T18:30:13.848Z,1757010613.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:13.857Z,1757010613.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 180.235138 m,
      bearing: 161.468144 deg,
      approach rate: -0.680250 m/s,
      LOS rate: -0.011587 deg/s,
      cmd heading: 153.989511 deg,
      new cmd heading: 153.977860 deg.

2025-09-04T18:30:13.859Z,1757010613.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687421 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:14.088Z,1757010614.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968036
2025-09-04T18:30:14.143Z,1757010614.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:14.146Z,1757010614.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 179.994705 m,
      bearing: 161.464055 deg,
      approach rate: -0.803309 m/s,
      LOS rate: -0.013682 deg/s,
      cmd heading: 153.977859 deg,
      new cmd heading: 153.969669 deg.

2025-09-04T18:30:14.148Z,1757010614.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687278 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:14.342Z,1757010614.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221986
2025-09-04T18:30:14.571Z,1757010614.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:14.574Z,1757010614.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 179.696625 m,
      bearing: 161.458969 deg,
      approach rate: -0.696816 m/s,
      LOS rate: -0.011908 deg/s,
      cmd heading: 153.969662 deg,
      new cmd heading: 153.959475 deg.

2025-09-04T18:30:14.575Z,1757010614.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687100 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:14.594Z,1757010614.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473931
2025-09-04T18:30:14.846Z,1757010614.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725531
2025-09-04T18:30:14.974Z,1757010614.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:14.977Z,1757010614.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:14.979Z,1757010614.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 179.411041 m,
      bearing: 161.453488 deg,
      approach rate: -0.704096 m/s,
      LOS rate: -0.013537 deg/s,
      cmd heading: 153.959472 deg,
      new cmd heading: 153.948490 deg.

2025-09-04T18:30:14.980Z,1757010614.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686908 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:15.097Z,1757010615.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976694
2025-09-04T18:30:15.351Z,1757010615.351 [DAT](INFO): DAT read: Rx Time:18:30:14.0645

2025-09-04T18:30:15.351Z,1757010615.351 [DAT](INFO): Rx dataTimestamp_ set to:1757010615.350700
2025-09-04T18:30:15.353Z,1757010615.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232386
2025-09-04T18:30:15.508Z,1757010615.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.40 m.
2025-09-04T18:30:15.511Z,1757010615.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.399979 m,
      nav range: 179.065720 m,
      bearing: 161.446883 deg,
      approach rate: -0.654693 m/s,
      LOS rate: -0.012545 deg/s,
      cmd heading: 153.948489 deg,
      new cmd heading: 153.935255 deg.

2025-09-04T18:30:15.516Z,1757010615.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686677 target range: 211.399979 and range: 212.30 m.
2025-09-04T18:30:15.613Z,1757010615.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491540
2025-09-04T18:30:15.889Z,1757010615.889 [DAT](INFO): DAT read: 18:30:14.0645 LVL= 32432, 31777, 30418, 31987, AGC= 64, IDX= 415, 0.31,-2.155, 2.762,-2.167, 3.115, PHS= 1.116,-0.307, 0.957, RAW= 144.2, -24.8, CAL= 145.2, -26.5, ROT=   4.8,  26.5

2025-09-04T18:30:15.890Z,1757010615.890 [DAT](INFO): got valid direction response:
 18:30:14.0645 LVL= 32432, 31777, 30418, 31987, AGC= 64, IDX= 415, 0.31,-2.155, 2.762,-2.167, 3.115, PHS= 1.116,-0.307, 0.957, RAW= 144.2, -24.8, CAL= 145.2, -26.5, ROT=   4.8,  26.5

2025-09-04T18:30:15.891Z,1757010615.891 [DAT](INFO): DAT read: Bearing 285.9,   4.3 (Local)

2025-09-04T18:30:15.891Z,1757010615.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.9,   4.3 (Local)

2025-09-04T18:30:15.913Z,1757010615.913 [DAT](INFO): DAT read: Range 11 to 50 : 210.0 m  (Round-trip  280.0 ms) speed  0.0 m/s

2025-09-04T18:30:15.914Z,1757010615.914 [DAT](INFO): DAT read: user:2814>

2025-09-04T18:30:15.914Z,1757010615.914 [DAT](INFO): DAT read: Tx time:18:30:15.1803

2025-09-04T18:30:15.915Z,1757010615.915 [DAT](INFO): Ping request sent.
2025-09-04T18:30:15.915Z,1757010615.915 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:15.915Z,1757010615.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:15.920Z,1757010615.920 [DAT](INFO): direction in FSK: [0.891796,0.074886,-0.446198]
2025-09-04T18:30:15.920Z,1757010615.920 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:15.921Z,1757010615.921 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:15.924Z,1757010615.924 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:15.952Z,1757010615.952 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:16.039Z,1757010616.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 210.000000 m,
      deltaT: 3.795784 s,
      deltaX: -2.300003 m,
      approachRate: -0.605936 m/s,
      rangeRepo size: 4

2025-09-04T18:30:16.045Z,1757010616.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.110092 m,
      bearing: 157.578008 deg,
      lat: 36.779168 deg,
      lon: -121.859413 deg,
      deltaT: 3.795784 s,
      deltaX: -2.289886 m,
      approachRate: -0.603271 m/s,
      posRepo size: 4

2025-09-04T18:30:16.046Z,1757010616.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:16.053Z,1757010616.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 178.663773 m,
      bearing: 161.442182 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012545 deg/s,
      cmd heading: 153.935252 deg,
      new cmd heading: 153.921851 deg.

2025-09-04T18:30:16.053Z,1757010616.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686443 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:16.522Z,1757010616.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:16.541Z,1757010616.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 178.297256 m,
      bearing: 161.437945 deg,
      approach rate: -0.757951 m/s,
      LOS rate: -0.008781 deg/s,
      cmd heading: 153.921851 deg,
      new cmd heading: 153.913359 deg.

2025-09-04T18:30:16.542Z,1757010616.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686295 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:16.969Z,1757010616.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:16.972Z,1757010616.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 177.966614 m,
      bearing: 161.435582 deg,
      approach rate: -0.738764 m/s,
      LOS rate: -0.005289 deg/s,
      cmd heading: 153.913354 deg,
      new cmd heading: 153.908620 deg.

2025-09-04T18:30:16.973Z,1757010616.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686212 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:17.316Z,1757010617.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:17.342Z,1757010617.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:17.359Z,1757010617.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 177.708450 m,
      bearing: 161.433717 deg,
      approach rate: -0.703843 m/s,
      LOS rate: -0.005092 deg/s,
      cmd heading: 153.908614 deg,
      new cmd heading: 153.904878 deg.

2025-09-04T18:30:17.369Z,1757010617.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686147 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:17.381Z,1757010617.381 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:17.381Z,1757010617.381 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:17.381Z,1757010617.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:17.633Z,1757010617.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718456
2025-09-04T18:30:17.780Z,1757010617.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:17.788Z,1757010617.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 177.405090 m,
      bearing: 161.431477 deg,
      approach rate: -0.691384 m/s,
      LOS rate: -0.005114 deg/s,
      cmd heading: 153.904885 deg,
      new cmd heading: 153.900397 deg.

2025-09-04T18:30:17.793Z,1757010617.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686069 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:17.886Z,1757010617.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971110
2025-09-04T18:30:18.137Z,1757010618.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222249
2025-09-04T18:30:18.216Z,1757010618.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:18.219Z,1757010618.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 177.040802 m,
      bearing: 161.428078 deg,
      approach rate: -0.826315 m/s,
      LOS rate: -0.007725 deg/s,
      cmd heading: 153.900391 deg,
      new cmd heading: 153.893579 deg.

2025-09-04T18:30:18.220Z,1757010618.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685950 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:18.389Z,1757010618.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474362
2025-09-04T18:30:18.555Z,1757010618.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:18.558Z,1757010618.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 176.788361 m,
      bearing: 161.425711 deg,
      approach rate: -0.742977 m/s,
      LOS rate: -0.006978 deg/s,
      cmd heading: 153.893574 deg,
      new cmd heading: 153.888832 deg.

2025-09-04T18:30:18.559Z,1757010618.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685867 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:18.641Z,1757010618.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726469
2025-09-04T18:30:18.893Z,1757010618.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978394
2025-09-04T18:30:18.989Z,1757010618.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:18.993Z,1757010618.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 176.465897 m,
      bearing: 161.424796 deg,
      approach rate: -0.743378 m/s,
      LOS rate: -0.002113 deg/s,
      cmd heading: 153.888834 deg,
      new cmd heading: 153.887000 deg.

2025-09-04T18:30:18.994Z,1757010618.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685835 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:19.145Z,1757010619.145 [DAT](INFO): DAT read: Rx Time:18:30:17.8620

2025-09-04T18:30:19.146Z,1757010619.146 [DAT](INFO): Rx dataTimestamp_ set to:1757010619.145497
2025-09-04T18:30:19.146Z,1757010619.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231631
2025-09-04T18:30:19.366Z,1757010619.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:19.368Z,1757010619.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:19.371Z,1757010619.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 176.183029 m,
      bearing: 161.423968 deg,
      approach rate: -0.746384 m/s,
      LOS rate: -0.002187 deg/s,
      cmd heading: 153.887003 deg,
      new cmd heading: 153.885345 deg.

2025-09-04T18:30:19.377Z,1757010619.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685806 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:19.397Z,1757010619.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482392
2025-09-04T18:30:19.652Z,1757010619.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736962
2025-09-04T18:30:19.811Z,1757010619.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.11 m.
2025-09-04T18:30:19.819Z,1757010619.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.110092 m,
      nav range: 175.897324 m,
      bearing: 161.423169 deg,
      approach rate: -0.647392 m/s,
      LOS rate: -0.001814 deg/s,
      cmd heading: 153.885350 deg,
      new cmd heading: 153.883749 deg.

2025-09-04T18:30:19.820Z,1757010619.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685778 target range: 209.110092 and range: 210.00 m.
2025-09-04T18:30:19.907Z,1757010619.907 [DAT](INFO): DAT read: 18:30:17.8620 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.22,-1.657,-3.013,-1.700,-2.701, PHS= 1.147,-0.267, 0.957, RAW= 142.9, -26.0, CAL= 143.9, -27.5, ROT=   6.1,  27.5

2025-09-04T18:30:19.908Z,1757010619.908 [DAT](INFO): got valid direction response:
 18:30:17.8620 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.22,-1.657,-3.013,-1.700,-2.701, PHS= 1.147,-0.267, 0.957, RAW= 142.9, -26.0, CAL= 143.9, -27.5, ROT=   6.1,  27.5

2025-09-04T18:30:19.909Z,1757010619.909 [DAT](INFO): DAT read: Bearing 284.7,   5.2 (Local)

2025-09-04T18:30:19.909Z,1757010619.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.7,   5.2 (Local)

2025-09-04T18:30:19.911Z,1757010619.911 [DAT](INFO): DAT read: Range 11 to 50 : 208.1 m  (Round-trip  277.5 ms) speed  0.4 m/s

2025-09-04T18:30:19.912Z,1757010619.912 [DAT](INFO): DAT read: user:2815>

2025-09-04T18:30:19.912Z,1757010619.912 [DAT](INFO): DAT read: Tx time:18:30:18.9803

2025-09-04T18:30:19.913Z,1757010619.913 [DAT](INFO): Ping request sent.
2025-09-04T18:30:19.913Z,1757010619.913 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:19.913Z,1757010619.913 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:19.914Z,1757010619.914 [DAT](INFO): direction in FSK: [0.881989,0.094257,-0.461749]
2025-09-04T18:30:19.914Z,1757010619.914 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:19.915Z,1757010619.915 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:19.918Z,1757010619.918 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:19.918Z,1757010619.918 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:20.221Z,1757010620.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 208.100006 m,
      deltaT: 4.034591 s,
      deltaX: -1.899994 m,
      approachRate: -0.470926 m/s,
      rangeRepo size: 4

2025-09-04T18:30:20.223Z,1757010620.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 207.218124 m,
      bearing: 158.909858 deg,
      lat: 36.779166 deg,
      lon: -121.859305 deg,
      deltaT: 4.034591 s,
      deltaX: -1.891968 m,
      approachRate: -0.468937 m/s,
      posRepo size: 4

2025-09-04T18:30:20.224Z,1757010620.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:20.228Z,1757010620.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 179.118195 m,
      bearing: 158.526931 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001814 deg/s,
      cmd heading: 153.883752 deg,
      new cmd heading: 153.882262 deg.

2025-09-04T18:30:20.229Z,1757010620.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685752 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:20.589Z,1757010620.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:20.592Z,1757010620.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 178.848038 m,
      bearing: 158.520741 deg,
      approach rate: -0.732017 m/s,
      LOS rate: -0.016798 deg/s,
      cmd heading: 153.882263 deg,
      new cmd heading: 153.869865 deg.

2025-09-04T18:30:20.593Z,1757010620.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685536 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:21.004Z,1757010621.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:21.007Z,1757010621.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 178.523285 m,
      bearing: 158.512385 deg,
      approach rate: -0.783910 m/s,
      LOS rate: -0.020206 deg/s,
      cmd heading: 153.869860 deg,
      new cmd heading: 153.853118 deg.

2025-09-04T18:30:21.008Z,1757010621.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685243 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:21.381Z,1757010621.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:21.383Z,1757010621.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:21.387Z,1757010621.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 178.245087 m,
      bearing: 158.505233 deg,
      approach rate: -0.733115 m/s,
      LOS rate: -0.018877 deg/s,
      cmd heading: 153.853112 deg,
      new cmd heading: 153.838785 deg.

2025-09-04T18:30:21.392Z,1757010621.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684993 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:21.438Z,1757010621.438 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:21.438Z,1757010621.438 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:21.439Z,1757010621.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:21.689Z,1757010621.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.776397
2025-09-04T18:30:21.862Z,1757010621.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:21.865Z,1757010621.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 177.893494 m,
      bearing: 158.496162 deg,
      approach rate: -0.734393 m/s,
      LOS rate: -0.018985 deg/s,
      cmd heading: 153.838782 deg,
      new cmd heading: 153.820604 deg.

2025-09-04T18:30:21.866Z,1757010621.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684676 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:21.941Z,1757010621.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028374
2025-09-04T18:30:22.193Z,1757010622.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280248
2025-09-04T18:30:22.198Z,1757010622.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:22.201Z,1757010622.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 177.630661 m,
      bearing: 158.491410 deg,
      approach rate: -0.781965 m/s,
      LOS rate: -0.014157 deg/s,
      cmd heading: 153.820600 deg,
      new cmd heading: 153.811084 deg.

2025-09-04T18:30:22.202Z,1757010622.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684510 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:22.445Z,1757010622.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532217
2025-09-04T18:30:22.579Z,1757010622.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:22.582Z,1757010622.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 177.347275 m,
      bearing: 158.486289 deg,
      approach rate: -0.743655 m/s,
      LOS rate: -0.013460 deg/s,
      cmd heading: 153.811079 deg,
      new cmd heading: 153.800820 deg.

2025-09-04T18:30:22.583Z,1757010622.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684331 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:22.697Z,1757010622.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784300
2025-09-04T18:30:22.949Z,1757010622.949 [DAT](INFO): DAT read: Rx Time:18:30:21.6592

2025-09-04T18:30:22.950Z,1757010622.950 [DAT](INFO): Rx dataTimestamp_ set to:1757010622.949373
2025-09-04T18:30:22.950Z,1757010622.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037379
2025-09-04T18:30:23.030Z,1757010623.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:23.033Z,1757010623.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 177.014694 m,
      bearing: 158.478243 deg,
      approach rate: -0.738190 m/s,
      LOS rate: -0.017893 deg/s,
      cmd heading: 153.800820 deg,
      new cmd heading: 153.784697 deg.

2025-09-04T18:30:23.034Z,1757010623.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684049 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:23.201Z,1757010623.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288195
2025-09-04T18:30:23.385Z,1757010623.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:23.387Z,1757010623.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.22 m.
2025-09-04T18:30:23.390Z,1757010623.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.218124 m,
      nav range: 176.750793 m,
      bearing: 158.471825 deg,
      approach rate: -0.737656 m/s,
      LOS rate: -0.017967 deg/s,
      cmd heading: 153.784701 deg,
      new cmd heading: 153.771845 deg.

2025-09-04T18:30:23.391Z,1757010623.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683825 target range: 207.218124 and range: 208.10 m.
2025-09-04T18:30:23.477Z,1757010623.477 [DAT](INFO): DAT read: 18:30:21.6592 LVL= 32752, 31889, 32754, 31187, AGC= 69, IDX= 410, 0.21, 3.034, 1.590, 2.899, 1.884, PHS= 1.252,-0.249, 0.971, RAW= 139.8, -26.8, CAL= 140.6, -28.2, ROT=   9.4,  28.2

2025-09-04T18:30:23.479Z,1757010623.479 [DAT](INFO): got valid direction response:
 18:30:21.6592 LVL= 32752, 31889, 32754, 31187, AGC= 69, IDX= 410, 0.21, 3.034, 1.590, 2.899, 1.884, PHS= 1.252,-0.249, 0.971, RAW= 139.8, -26.8, CAL= 140.6, -28.2, ROT=   9.4,  28.2

2025-09-04T18:30:23.485Z,1757010623.485 [DAT](INFO): DAT read: Bearing 283.8,   7.6 (Local)

2025-09-04T18:30:23.486Z,1757010623.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.8,   7.6 (Local)

2025-09-04T18:30:23.491Z,1757010623.491 [DAT](INFO): DAT read: Range 11 to 50 : 206.1 m  (Round-trip  274.8 ms) speed  0.7 m/s

2025-09-04T18:30:23.521Z,1757010623.521 [DAT](INFO): DAT read: user:2816>

2025-09-04T18:30:23.522Z,1757010623.522 [DAT](INFO): DAT read: Tx time:18:30:22.7803

2025-09-04T18:30:23.523Z,1757010623.523 [DAT](INFO): Ping request sent.
2025-09-04T18:30:23.523Z,1757010623.523 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:23.523Z,1757010623.523 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:23.537Z,1757010623.537 [DAT](INFO): direction in FSK: [0.869469,0.143940,-0.472551]
2025-09-04T18:30:23.537Z,1757010623.537 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:23.537Z,1757010623.537 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:23.548Z,1757010623.548 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:23.549Z,1757010623.549 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:23.918Z,1757010623.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 206.100006 m,
      deltaT: 3.553656 s,
      deltaX: -2.000000 m,
      approachRate: -0.562801 m/s,
      rangeRepo size: 4

2025-09-04T18:30:23.930Z,1757010623.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 205.224014 m,
      bearing: 162.253404 deg,
      lat: 36.779146 deg,
      lon: -121.859420 deg,
      deltaT: 3.553656 s,
      deltaX: -1.994110 m,
      approachRate: -0.561143 m/s,
      posRepo size: 4

2025-09-04T18:30:23.931Z,1757010623.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:23.942Z,1757010623.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 175.021378 m,
      bearing: 161.853613 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017967 deg/s,
      cmd heading: 153.771846 deg,
      new cmd heading: 153.752802 deg.

2025-09-04T18:30:23.943Z,1757010623.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683493 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:24.259Z,1757010624.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:24.263Z,1757010624.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 174.762192 m,
      bearing: 161.850435 deg,
      approach rate: -0.758534 m/s,
      LOS rate: -0.009315 deg/s,
      cmd heading: 153.752804 deg,
      new cmd heading: 153.746438 deg.

2025-09-04T18:30:24.272Z,1757010624.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683382 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:24.621Z,1757010624.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:24.625Z,1757010624.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 174.484070 m,
      bearing: 161.847036 deg,
      approach rate: -0.767716 m/s,
      LOS rate: -0.009397 deg/s,
      cmd heading: 153.746438 deg,
      new cmd heading: 153.739630 deg.

2025-09-04T18:30:24.626Z,1757010624.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683263 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:24.761Z,1757010624.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:30:25.093Z,1757010625.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:25.097Z,1757010625.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 174.151352 m,
      bearing: 161.843464 deg,
      approach rate: -0.704766 m/s,
      LOS rate: -0.007581 deg/s,
      cmd heading: 153.739635 deg,
      new cmd heading: 153.732477 deg.

2025-09-04T18:30:25.098Z,1757010625.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683138 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:25.427Z,1757010625.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:25.430Z,1757010625.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:25.457Z,1757010625.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 173.917282 m,
      bearing: 161.840963 deg,
      approach rate: -0.695827 m/s,
      LOS rate: -0.007444 deg/s,
      cmd heading: 153.732477 deg,
      new cmd heading: 153.727469 deg.

2025-09-04T18:30:25.458Z,1757010625.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683050 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:25.470Z,1757010625.470 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:25.470Z,1757010625.470 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:25.470Z,1757010625.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:25.722Z,1757010625.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198839
2025-09-04T18:30:25.764Z,1757010625.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:30:25.920Z,1757010625.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:25.923Z,1757010625.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 173.576920 m,
      bearing: 161.837243 deg,
      approach rate: -0.694615 m/s,
      LOS rate: -0.007606 deg/s,
      cmd heading: 153.727464 deg,
      new cmd heading: 153.720010 deg.

2025-09-04T18:30:25.924Z,1757010625.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682920 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:25.974Z,1757010625.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450892
2025-09-04T18:30:26.225Z,1757010626.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702438
2025-09-04T18:30:26.274Z,1757010626.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:26.277Z,1757010626.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 173.316498 m,
      bearing: 161.834105 deg,
      approach rate: -0.734812 m/s,
      LOS rate: -0.008867 deg/s,
      cmd heading: 153.720005 deg,
      new cmd heading: 153.713720 deg.

2025-09-04T18:30:26.278Z,1757010626.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682811 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:26.480Z,1757010626.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957496
2025-09-04T18:30:26.657Z,1757010626.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:26.664Z,1757010626.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 173.056763 m,
      bearing: 161.830992 deg,
      approach rate: -0.678292 m/s,
      LOS rate: -0.008143 deg/s,
      cmd heading: 153.713721 deg,
      new cmd heading: 153.707485 deg.

2025-09-04T18:30:26.665Z,1757010626.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682702 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:26.730Z,1757010626.730 [DAT](INFO): DAT read: Rx Time:18:30:25.4570

2025-09-04T18:30:26.730Z,1757010626.730 [DAT](INFO): Rx dataTimestamp_ set to:1757010626.729743
2025-09-04T18:30:26.731Z,1757010626.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207911
2025-09-04T18:30:26.981Z,1757010626.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458407
2025-09-04T18:30:27.091Z,1757010627.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:27.098Z,1757010627.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 172.747314 m,
      bearing: 161.827585 deg,
      approach rate: -0.712743 m/s,
      LOS rate: -0.007860 deg/s,
      cmd heading: 153.707479 deg,
      new cmd heading: 153.700654 deg.

2025-09-04T18:30:27.099Z,1757010627.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682582 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:27.236Z,1757010627.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.712917
2025-09-04T18:30:27.459Z,1757010627.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:27.461Z,1757010627.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.22 m.
2025-09-04T18:30:27.464Z,1757010627.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.224014 m,
      nav range: 172.468521 m,
      bearing: 161.824565 deg,
      approach rate: -0.753683 m/s,
      LOS rate: -0.008180 deg/s,
      cmd heading: 153.700648 deg,
      new cmd heading: 153.694597 deg.

2025-09-04T18:30:27.465Z,1757010627.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682477 target range: 205.224014 and range: 206.10 m.
2025-09-04T18:30:27.493Z,1757010627.493 [DAT](INFO): DAT read: 18:30:25.4570 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.30,-2.954, 2.134,-2.991, 2.229, PHS= 1.202,-0.050, 1.019, RAW= 142.2, -33.2, CAL= 143.4, -33.4, ROT=   6.6,  33.4

2025-09-04T18:30:27.495Z,1757010627.495 [DAT](INFO): got valid direction response:
 18:30:25.4570 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.30,-2.954, 2.134,-2.991, 2.229, PHS= 1.202,-0.050, 1.019, RAW= 142.2, -33.2, CAL= 143.4, -33.4, ROT=   6.6,  33.4

2025-09-04T18:30:27.496Z,1757010627.496 [DAT](INFO): DAT read: Bearing 278.6,   4.9 (Local)

2025-09-04T18:30:27.497Z,1757010627.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.6,   4.9 (Local)

2025-09-04T18:30:27.499Z,1757010627.499 [DAT](INFO): DAT read: Range 11 to 50 : 204.4 m  (Round-trip  272.6 ms) speed  0.0 m/s

2025-09-04T18:30:27.504Z,1757010627.504 [DAT](INFO): DAT read: user:2817>

2025-09-04T18:30:27.506Z,1757010627.506 [DAT](INFO): DAT read: Tx time:18:30:26.5802

2025-09-04T18:30:27.506Z,1757010627.506 [DAT](INFO): Ping request sent.
2025-09-04T18:30:27.506Z,1757010627.506 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:27.506Z,1757010627.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:27.507Z,1757010627.507 [DAT](INFO): direction in FSK: [0.829315,0.095955,-0.550481]
2025-09-04T18:30:27.508Z,1757010627.508 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:27.508Z,1757010627.508 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:27.511Z,1757010627.511 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:27.511Z,1757010627.511 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:27.986Z,1757010627.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 204.399994 m,
      deltaT: 4.030645 s,
      deltaX: -1.700012 m,
      approachRate: -0.421772 m/s,
      rangeRepo size: 4

2025-09-04T18:30:27.996Z,1757010627.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 203.529587 m,
      bearing: 159.184349 deg,
      lat: 36.779146 deg,
      lon: -121.859356 deg,
      deltaT: 4.030645 s,
      deltaX: -1.694427 m,
      approachRate: -0.420386 m/s,
      posRepo size: 4

2025-09-04T18:30:27.997Z,1757010627.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:27.000Z,1757010628.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 173.985809 m,
      bearing: 160.030098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008180 deg/s,
      cmd heading: 153.694597 deg,
      new cmd heading: 153.686022 deg.

2025-09-04T18:30:28.005Z,1757010628.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682327 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:28.376Z,1757010628.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:28.379Z,1757010628.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 173.677933 m,
      bearing: 160.024007 deg,
      approach rate: -0.787618 m/s,
      LOS rate: -0.015610 deg/s,
      cmd heading: 153.686018 deg,
      new cmd heading: 153.673815 deg.

2025-09-04T18:30:28.396Z,1757010628.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682114 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:28.822Z,1757010628.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:28.841Z,1757010628.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 173.384705 m,
      bearing: 160.018158 deg,
      approach rate: -0.657599 m/s,
      LOS rate: -0.013139 deg/s,
      cmd heading: 153.673819 deg,
      new cmd heading: 153.662102 deg.

2025-09-04T18:30:28.842Z,1757010628.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681910 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:29.165Z,1757010629.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:29.169Z,1757010629.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 173.105392 m,
      bearing: 160.012130 deg,
      approach rate: -0.814592 m/s,
      LOS rate: -0.017609 deg/s,
      cmd heading: 153.662099 deg,
      new cmd heading: 153.650023 deg.

2025-09-04T18:30:29.170Z,1757010629.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681699 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:29.550Z,1757010629.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:29.552Z,1757010629.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:29.555Z,1757010629.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 172.827789 m,
      bearing: 160.006119 deg,
      approach rate: -0.716856 m/s,
      LOS rate: -0.015546 deg/s,
      cmd heading: 153.650023 deg,
      new cmd heading: 153.637982 deg.

2025-09-04T18:30:29.556Z,1757010629.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681489 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:29.754Z,1757010629.754 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:29.754Z,1757010629.754 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:29.754Z,1757010629.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:30.005Z,1757010630.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499084
2025-09-04T18:30:30.034Z,1757010630.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:30.041Z,1757010630.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 172.500092 m,
      bearing: 160.000732 deg,
      approach rate: -0.680396 m/s,
      LOS rate: -0.011206 deg/s,
      cmd heading: 153.637988 deg,
      new cmd heading: 153.627194 deg.

2025-09-04T18:30:30.042Z,1757010630.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681300 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:30.257Z,1757010630.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751153
2025-09-04T18:30:30.438Z,1757010630.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:30.445Z,1757010630.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 172.200516 m,
      bearing: 159.995785 deg,
      approach rate: -0.741554 m/s,
      LOS rate: -0.012267 deg/s,
      cmd heading: 153.627197 deg,
      new cmd heading: 153.617285 deg.

2025-09-04T18:30:30.446Z,1757010630.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681127 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:30.509Z,1757010630.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003390
2025-09-04T18:30:30.761Z,1757010630.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255056
2025-09-04T18:30:30.855Z,1757010630.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:30.858Z,1757010630.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 171.883759 m,
      bearing: 159.990532 deg,
      approach rate: -0.760175 m/s,
      LOS rate: -0.012630 deg/s,
      cmd heading: 153.617279 deg,
      new cmd heading: 153.606753 deg.

2025-09-04T18:30:30.859Z,1757010630.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680943 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:31.013Z,1757010631.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507054
2025-09-04T18:30:31.265Z,1757010631.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759003
2025-09-04T18:30:31.307Z,1757010631.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:31.313Z,1757010631.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 171.572205 m,
      bearing: 159.983881 deg,
      approach rate: -0.689279 m/s,
      LOS rate: -0.014742 deg/s,
      cmd heading: 153.606747 deg,
      new cmd heading: 153.593420 deg.

2025-09-04T18:30:31.314Z,1757010631.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680711 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:31.520Z,1757010631.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013860
2025-09-04T18:30:31.661Z,1757010631.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:31.663Z,1757010631.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:31.666Z,1757010631.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 171.285095 m,
      bearing: 159.977762 deg,
      approach rate: -0.805360 m/s,
      LOS rate: -0.017192 deg/s,
      cmd heading: 153.593415 deg,
      new cmd heading: 153.581157 deg.

2025-09-04T18:30:31.667Z,1757010631.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680497 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:31.769Z,1757010631.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.263048
2025-09-04T18:30:32.024Z,1757010632.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.518424
2025-09-04T18:30:32.129Z,1757010632.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:32.132Z,1757010632.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 170.961899 m,
      bearing: 159.973516 deg,
      approach rate: -0.693098 m/s,
      LOS rate: -0.009123 deg/s,
      cmd heading: 153.581161 deg,
      new cmd heading: 153.572653 deg.

2025-09-04T18:30:32.133Z,1757010632.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680348 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:32.273Z,1757010632.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.767317
2025-09-04T18:30:32.525Z,1757010632.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.018990
2025-09-04T18:30:32.560Z,1757010632.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:32.563Z,1757010632.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 170.631348 m,
      bearing: 159.969085 deg,
      approach rate: -0.768127 m/s,
      LOS rate: -0.010316 deg/s,
      cmd heading: 153.572651 deg,
      new cmd heading: 153.563772 deg.

2025-09-04T18:30:32.563Z,1757010632.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680193 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:32.777Z,1757010632.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.271397
2025-09-04T18:30:32.881Z,1757010632.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:32.884Z,1757010632.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 170.397125 m,
      bearing: 159.965887 deg,
      approach rate: -0.729161 m/s,
      LOS rate: -0.009967 deg/s,
      cmd heading: 153.563771 deg,
      new cmd heading: 153.557368 deg.

2025-09-04T18:30:32.885Z,1757010632.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680082 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:33.029Z,1757010633.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.523111
2025-09-04T18:30:33.281Z,1757010633.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775021
2025-09-04T18:30:33.339Z,1757010633.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:33.358Z,1757010633.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 170.059158 m,
      bearing: 159.961440 deg,
      approach rate: -0.737513 m/s,
      LOS rate: -0.009725 deg/s,
      cmd heading: 153.557365 deg,
      new cmd heading: 153.548452 deg.

2025-09-04T18:30:33.359Z,1757010633.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679926 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:33.533Z,1757010633.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.027021
2025-09-04T18:30:33.699Z,1757010633.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:33.701Z,1757010633.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:33.704Z,1757010633.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 169.795044 m,
      bearing: 159.957913 deg,
      approach rate: -0.730215 m/s,
      LOS rate: -0.009766 deg/s,
      cmd heading: 153.548458 deg,
      new cmd heading: 153.541394 deg.

2025-09-04T18:30:33.705Z,1757010633.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679803 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:33.786Z,1757010633.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.279638
2025-09-04T18:30:34.037Z,1757010634.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.530991
2025-09-04T18:30:34.131Z,1757010634.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:34.138Z,1757010634.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 169.471481 m,
      bearing: 159.955064 deg,
      approach rate: -0.752001 m/s,
      LOS rate: -0.006633 deg/s,
      cmd heading: 153.541396 deg,
      new cmd heading: 153.535688 deg.

2025-09-04T18:30:34.139Z,1757010634.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679703 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:34.289Z,1757010634.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.783442
2025-09-04T18:30:34.503Z,1757010634.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:34.507Z,1757010634.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 169.191269 m,
      bearing: 159.952570 deg,
      approach rate: -0.754366 m/s,
      LOS rate: -0.006726 deg/s,
      cmd heading: 153.535686 deg,
      new cmd heading: 153.530689 deg.

2025-09-04T18:30:34.508Z,1757010634.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679616 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:34.541Z,1757010634.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.035124
2025-09-04T18:30:34.794Z,1757010634.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.287688
2025-09-04T18:30:34.896Z,1757010634.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:34.899Z,1757010634.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 168.884415 m,
      bearing: 159.949782 deg,
      approach rate: -0.780103 m/s,
      LOS rate: -0.007101 deg/s,
      cmd heading: 153.530686 deg,
      new cmd heading: 153.525100 deg.

2025-09-04T18:30:34.916Z,1757010634.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679518 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:35.048Z,1757010635.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.542040
2025-09-04T18:30:35.299Z,1757010635.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.792346
2025-09-04T18:30:35.355Z,1757010635.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:35.373Z,1757010635.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 168.562515 m,
      bearing: 159.945815 deg,
      approach rate: -0.700860 m/s,
      LOS rate: -0.008654 deg/s,
      cmd heading: 153.525099 deg,
      new cmd heading: 153.517149 deg.

2025-09-04T18:30:35.374Z,1757010635.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679380 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:35.549Z,1757010635.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.042918
2025-09-04T18:30:35.712Z,1757010635.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:35.714Z,1757010635.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:35.717Z,1757010635.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 168.296616 m,
      bearing: 159.942516 deg,
      approach rate: -0.740940 m/s,
      LOS rate: -0.009208 deg/s,
      cmd heading: 153.517149 deg,
      new cmd heading: 153.510540 deg.

2025-09-04T18:30:35.718Z,1757010635.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679264 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:35.803Z,1757010635.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.296278
2025-09-04T18:30:36.053Z,1757010636.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.547160
2025-09-04T18:30:36.129Z,1757010636.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:36.152Z,1757010636.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 167.979797 m,
      bearing: 159.938423 deg,
      approach rate: -0.764069 m/s,
      LOS rate: -0.009888 deg/s,
      cmd heading: 153.510537 deg,
      new cmd heading: 153.502337 deg.

2025-09-04T18:30:36.153Z,1757010636.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679121 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:36.307Z,1757010636.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.800624
2025-09-04T18:30:36.524Z,1757010636.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:36.542Z,1757010636.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 167.690369 m,
      bearing: 159.934732 deg,
      approach rate: -0.733072 m/s,
      LOS rate: -0.009365 deg/s,
      cmd heading: 153.502341 deg,
      new cmd heading: 153.494946 deg.

2025-09-04T18:30:36.543Z,1757010636.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678992 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:36.557Z,1757010636.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.051380
2025-09-04T18:30:36.810Z,1757010636.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.304062
2025-09-04T18:30:36.909Z,1757010636.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:36.912Z,1757010636.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 167.402908 m,
      bearing: 159.931100 deg,
      approach rate: -0.745647 m/s,
      LOS rate: -0.009438 deg/s,
      cmd heading: 153.494951 deg,
      new cmd heading: 153.487673 deg.

2025-09-04T18:30:36.913Z,1757010636.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678865 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:37.064Z,1757010637.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.557127
2025-09-04T18:30:37.315Z,1757010637.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.808701
2025-09-04T18:30:37.371Z,1757010637.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:37.378Z,1757010637.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 167.074646 m,
      bearing: 159.924726 deg,
      approach rate: -0.710466 m/s,
      LOS rate: -0.013823 deg/s,
      cmd heading: 153.487670 deg,
      new cmd heading: 153.474896 deg.

2025-09-04T18:30:37.379Z,1757010637.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678642 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:37.565Z,1757010637.565 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:37.565Z,1757010637.565 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:37.565Z,1757010637.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:37.721Z,1757010637.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:37.723Z,1757010637.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:37.726Z,1757010637.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 166.799194 m,
      bearing: 159.919384 deg,
      approach rate: -0.782451 m/s,
      LOS rate: -0.015199 deg/s,
      cmd heading: 153.474897 deg,
      new cmd heading: 153.464196 deg.

2025-09-04T18:30:37.727Z,1757010637.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678456 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:37.817Z,1757010637.817 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:37.818Z,1757010637.818 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:37.818Z,1757010637.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:38.071Z,1757010638.071 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:38.072Z,1757010638.072 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:38.073Z,1757010638.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:38.182Z,1757010638.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:38.185Z,1757010638.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 166.473083 m,
      bearing: 159.909997 deg,
      approach rate: -0.710828 m/s,
      LOS rate: -0.020502 deg/s,
      cmd heading: 153.464201 deg,
      new cmd heading: 153.445390 deg.

2025-09-04T18:30:38.186Z,1757010638.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678127 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:38.321Z,1757010638.321 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:38.321Z,1757010638.321 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:38.321Z,1757010638.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:38.554Z,1757010638.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:38.557Z,1757010638.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 166.225433 m,
      bearing: 159.902836 deg,
      approach rate: -0.665108 m/s,
      LOS rate: -0.019259 deg/s,
      cmd heading: 153.445391 deg,
      new cmd heading: 153.431048 deg.

2025-09-04T18:30:38.558Z,1757010638.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677877 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:38.575Z,1757010638.575 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:38.584Z,1757010638.584 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:38.584Z,1757010638.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:38.825Z,1757010638.825 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:38.825Z,1757010638.825 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:38.826Z,1757010638.826 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:38.930Z,1757010638.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:38.933Z,1757010638.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 165.941757 m,
      bearing: 159.894628 deg,
      approach rate: -0.753991 m/s,
      LOS rate: -0.021854 deg/s,
      cmd heading: 153.431047 deg,
      new cmd heading: 153.414603 deg.

2025-09-04T18:30:38.934Z,1757010638.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677590 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:39.079Z,1757010639.079 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:39.081Z,1757010639.081 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:39.082Z,1757010639.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:39.329Z,1757010639.329 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:39.329Z,1757010639.329 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:39.329Z,1757010639.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:39.400Z,1757010639.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:39.403Z,1757010639.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 165.614853 m,
      bearing: 159.885869 deg,
      approach rate: -0.702327 m/s,
      LOS rate: -0.018855 deg/s,
      cmd heading: 153.414600 deg,
      new cmd heading: 153.397047 deg.

2025-09-04T18:30:39.408Z,1757010639.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677284 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:39.581Z,1757010639.581 [DAT](INFO): Reached modem response timeout
2025-09-04T18:30:39.581Z,1757010639.581 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:30:39.581Z,1757010639.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:39.833Z,1757010639.833 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:30:39.833Z,1757010639.833 [DAT](INFO): response not received
2025-09-04T18:30:39.834Z,1757010639.834 [DAT](INFO): DAT read: user:2818>

2025-09-04T18:30:39.835Z,1757010639.835 [DAT](INFO): DAT read: Tx time:18:30:39.0302

2025-09-04T18:30:39.835Z,1757010639.835 [DAT](INFO): Ping request sent.
2025-09-04T18:30:39.835Z,1757010639.835 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:39.835Z,1757010639.835 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:39.836Z,1757010639.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-09-04T18:30:39.909Z,1757010639.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:39.911Z,1757010639.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:39.918Z,1757010639.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 165.249161 m,
      bearing: 159.876136 deg,
      approach rate: -0.710443 m/s,
      LOS rate: -0.018951 deg/s,
      cmd heading: 153.397047 deg,
      new cmd heading: 153.377537 deg.

2025-09-04T18:30:39.919Z,1757010639.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676943 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:40.088Z,1757010640.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252446
2025-09-04T18:30:40.330Z,1757010640.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:40.337Z,1757010640.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502106
2025-09-04T18:30:40.339Z,1757010640.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 164.953156 m,
      bearing: 159.868114 deg,
      approach rate: -0.705325 m/s,
      LOS rate: -0.019149 deg/s,
      cmd heading: 153.377540 deg,
      new cmd heading: 153.361467 deg.

2025-09-04T18:30:40.344Z,1757010640.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676662 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:40.589Z,1757010640.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754252
2025-09-04T18:30:40.697Z,1757010640.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:40.700Z,1757010640.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 164.682434 m,
      bearing: 159.860823 deg,
      approach rate: -0.737757 m/s,
      LOS rate: -0.019902 deg/s,
      cmd heading: 153.361461 deg,
      new cmd heading: 153.346855 deg.

2025-09-04T18:30:40.701Z,1757010640.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676408 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:40.841Z,1757010640.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005926
2025-09-04T18:30:41.097Z,1757010641.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260515
2025-09-04T18:30:41.194Z,1757010641.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:41.209Z,1757010641.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 164.310806 m,
      bearing: 159.853663 deg,
      approach rate: -0.748130 m/s,
      LOS rate: -0.014446 deg/s,
      cmd heading: 153.346858 deg,
      new cmd heading: 153.332506 deg.

2025-09-04T18:30:41.210Z,1757010641.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676157 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:41.346Z,1757010641.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510578
2025-09-04T18:30:41.597Z,1757010641.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762092
2025-09-04T18:30:41.601Z,1757010641.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:41.603Z,1757010641.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 164.035645 m,
      bearing: 159.848353 deg,
      approach rate: -0.684506 m/s,
      LOS rate: -0.013232 deg/s,
      cmd heading: 153.332501 deg,
      new cmd heading: 153.321863 deg.

2025-09-04T18:30:41.609Z,1757010641.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675971 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:41.852Z,1757010641.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017425
2025-09-04T18:30:41.981Z,1757010641.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:41.983Z,1757010641.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:41.986Z,1757010641.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 163.742981 m,
      bearing: 159.842642 deg,
      approach rate: -0.756819 m/s,
      LOS rate: -0.014793 deg/s,
      cmd heading: 153.321860 deg,
      new cmd heading: 153.310419 deg.

2025-09-04T18:30:41.987Z,1757010641.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675771 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:42.109Z,1757010642.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272813
2025-09-04T18:30:42.357Z,1757010642.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522035
2025-09-04T18:30:42.425Z,1757010642.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:42.435Z,1757010642.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 163.433975 m,
      bearing: 159.835227 deg,
      approach rate: -0.698316 m/s,
      LOS rate: -0.016789 deg/s,
      cmd heading: 153.310412 deg,
      new cmd heading: 153.295554 deg.

2025-09-04T18:30:42.441Z,1757010642.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675512 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:42.609Z,1757010642.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774258
2025-09-04T18:30:42.822Z,1757010642.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:42.825Z,1757010642.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 163.138168 m,
      bearing: 159.828102 deg,
      approach rate: -0.745459 m/s,
      LOS rate: -0.017989 deg/s,
      cmd heading: 153.295550 deg,
      new cmd heading: 153.281273 deg.

2025-09-04T18:30:42.826Z,1757010642.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675263 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:42.861Z,1757010642.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026277
2025-09-04T18:30:43.130Z,1757010643.130 [DAT](INFO): DAT read: Rx Time:18:30:41.6945

2025-09-04T18:30:43.132Z,1757010643.132 [DAT](INFO): Rx dataTimestamp_ set to:1757010643.130601
2025-09-04T18:30:43.134Z,1757010643.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298241
2025-09-04T18:30:43.307Z,1757010643.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.53 m.
2025-09-04T18:30:43.313Z,1757010643.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.529587 m,
      nav range: 162.790558 m,
      bearing: 159.820780 deg,
      approach rate: -0.716440 m/s,
      LOS rate: -0.015123 deg/s,
      cmd heading: 153.281275 deg,
      new cmd heading: 153.266600 deg.

2025-09-04T18:30:43.314Z,1757010643.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675007 target range: 203.529587 and range: 204.40 m.
2025-09-04T18:30:43.365Z,1757010643.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530168
2025-09-04T18:30:43.623Z,1757010643.623 [DAT](INFO): DAT read: 18:30:41.6945 LVL= 22832, 25297, 23090, 23523, AGC= 65, IDX= 276, 0.48,-3.134, 1.881, 3.022, 2.054, PHS= 1.197,-0.128, 0.924, RAW= 138.7, -30.2, CAL= 139.7, -30.9, ROT=  10.3,  30.9

2025-09-04T18:30:43.625Z,1757010643.625 [DAT](INFO): got valid direction response:
 18:30:41.6945 LVL= 22832, 25297, 23090, 23523, AGC= 65, IDX= 276, 0.48,-3.134, 1.881, 3.022, 2.054, PHS= 1.197,-0.128, 0.924, RAW= 138.7, -30.2, CAL= 139.7, -30.9, ROT=  10.3,  30.9

2025-09-04T18:30:43.626Z,1757010643.626 [DAT](INFO): DAT read: Bearing 280.8,   7.9 (Local)

2025-09-04T18:30:43.626Z,1757010643.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.8,   7.9 (Local)

2025-09-04T18:30:43.627Z,1757010643.627 [DAT](INFO): DAT read: Range 11 to 50 : 195.0 m  (Round-trip  260.1 ms) speed  0.4 m/s

2025-09-04T18:30:43.629Z,1757010643.629 [DAT](INFO): DAT read: user:2819>

2025-09-04T18:30:43.630Z,1757010643.630 [DAT](INFO): DAT read: Tx time:18:30:42.7802

2025-09-04T18:30:43.630Z,1757010643.630 [DAT](INFO): Ping request sent.
2025-09-04T18:30:43.630Z,1757010643.630 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:43.630Z,1757010643.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:43.633Z,1757010643.633 [DAT](INFO): direction in FSK: [0.844237,0.153424,-0.513541]
2025-09-04T18:30:43.635Z,1757010643.635 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:43.656Z,1757010643.656 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:43.659Z,1757010643.659 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:43.659Z,1757010643.659 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:43.690Z,1757010643.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.000000 m,
      deltaT: 16.131758 s,
      deltaX: -9.399994 m,
      approachRate: -0.582701 m/s,
      rangeRepo size: 4

2025-09-04T18:30:43.709Z,1757010643.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.171127 m,
      bearing: 162.833751 deg,
      lat: 36.779136 deg,
      lon: -121.859356 deg,
      deltaT: 16.131758 s,
      deltaX: -9.358459 m,
      approachRate: -0.580126 m/s,
      posRepo size: 4

2025-09-04T18:30:43.709Z,1757010643.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:43.724Z,1757010643.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 163.551270 m,
      bearing: 159.945749 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015123 deg/s,
      cmd heading: 153.266604 deg,
      new cmd heading: 153.255321 deg.

2025-09-04T18:30:43.725Z,1757010643.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674810 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:44.339Z,1757010644.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:44.345Z,1757010644.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:44.348Z,1757010644.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 163.050095 m,
      bearing: 159.937440 deg,
      approach rate: -0.753932 m/s,
      LOS rate: -0.012537 deg/s,
      cmd heading: 153.255320 deg,
      new cmd heading: 153.238652 deg.

2025-09-04T18:30:44.352Z,1757010644.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674519 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:44.373Z,1757010644.373 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:44.373Z,1757010644.373 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:44.373Z,1757010644.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:44.625Z,1757010644.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995495
2025-09-04T18:30:44.697Z,1757010644.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:44.700Z,1757010644.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 162.792511 m,
      bearing: 159.933182 deg,
      approach rate: -0.731767 m/s,
      LOS rate: -0.012115 deg/s,
      cmd heading: 153.238654 deg,
      new cmd heading: 153.230125 deg.

2025-09-04T18:30:44.705Z,1757010644.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674370 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:44.877Z,1757010644.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247205
2025-09-04T18:30:45.087Z,1757010645.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:45.090Z,1757010645.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 162.498474 m,
      bearing: 159.928342 deg,
      approach rate: -0.755483 m/s,
      LOS rate: -0.012459 deg/s,
      cmd heading: 153.230130 deg,
      new cmd heading: 153.220432 deg.

2025-09-04T18:30:45.091Z,1757010645.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674201 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:45.129Z,1757010645.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499154
2025-09-04T18:30:45.382Z,1757010645.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751738
2025-09-04T18:30:45.548Z,1757010645.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:45.551Z,1757010645.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 162.158005 m,
      bearing: 159.924005 deg,
      approach rate: -0.737624 m/s,
      LOS rate: -0.009416 deg/s,
      cmd heading: 153.220432 deg,
      new cmd heading: 153.211739 deg.

2025-09-04T18:30:45.552Z,1757010645.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674049 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:45.634Z,1757010645.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003020
2025-09-04T18:30:45.885Z,1757010645.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254983
2025-09-04T18:30:45.928Z,1757010645.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:45.931Z,1757010645.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 161.892517 m,
      bearing: 159.920595 deg,
      approach rate: -0.705268 m/s,
      LOS rate: -0.009073 deg/s,
      cmd heading: 153.211744 deg,
      new cmd heading: 153.204913 deg.

2025-09-04T18:30:45.936Z,1757010645.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673930 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:46.139Z,1757010646.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509012
2025-09-04T18:30:46.347Z,1757010646.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:46.369Z,1757010646.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:46.372Z,1757010646.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 161.567871 m,
      bearing: 159.915222 deg,
      approach rate: -0.730065 m/s,
      LOS rate: -0.012108 deg/s,
      cmd heading: 153.204913 deg,
      new cmd heading: 153.194145 deg.

2025-09-04T18:30:46.377Z,1757010646.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673742 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:46.389Z,1757010646.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759191
2025-09-04T18:30:46.641Z,1757010646.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011102
2025-09-04T18:30:46.814Z,1757010646.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:46.843Z,1757010646.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 161.217667 m,
      bearing: 159.909404 deg,
      approach rate: -0.786153 m/s,
      LOS rate: -0.013089 deg/s,
      cmd heading: 153.194149 deg,
      new cmd heading: 153.182488 deg.

2025-09-04T18:30:46.844Z,1757010646.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673539 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:46.894Z,1757010646.894 [DAT](INFO): DAT read: Rx Time:18:30:45.4414

2025-09-04T18:30:46.894Z,1757010646.894 [DAT](INFO): Rx dataTimestamp_ set to:1757010646.893918
2025-09-04T18:30:46.895Z,1757010646.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265108
2025-09-04T18:30:47.145Z,1757010647.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515072
2025-09-04T18:30:47.334Z,1757010647.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.17 m.
2025-09-04T18:30:47.337Z,1757010647.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.171127 m,
      nav range: 160.839508 m,
      bearing: 159.899979 deg,
      approach rate: -0.728102 m/s,
      LOS rate: -0.018188 deg/s,
      cmd heading: 153.182483 deg,
      new cmd heading: 153.163590 deg.

2025-09-04T18:30:47.338Z,1757010647.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673209 target range: 194.171127 and range: 195.00 m.
2025-09-04T18:30:47.406Z,1757010647.406 [DAT](INFO): DAT read: 18:30:45.4414 LVL= 23792, 27121, 24482, 29283, AGC= 68, IDX= 405, 0.06, 2.197, 1.036, 2.154, 1.195, PHS= 1.104,-0.114, 0.915, RAW= 141.7, -30.7, CAL= 142.8, -31.3, ROT=   7.2,  31.3

2025-09-04T18:30:47.407Z,1757010647.407 [DAT](INFO): got valid direction response:
 18:30:45.4414 LVL= 23792, 27121, 24482, 29283, AGC= 68, IDX= 405, 0.06, 2.197, 1.036, 2.154, 1.195, PHS= 1.104,-0.114, 0.915, RAW= 141.7, -30.7, CAL= 142.8, -31.3, ROT=   7.2,  31.3

2025-09-04T18:30:47.409Z,1757010647.409 [DAT](INFO): DAT read: Bearing 280.5,   5.1 (Local)

2025-09-04T18:30:47.409Z,1757010647.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.5,   5.1 (Local)

2025-09-04T18:30:47.411Z,1757010647.411 [DAT](INFO): DAT read: Range 11 to 50 : 192.8 m  (Round-trip  257.1 ms) speed  0.4 m/s

2025-09-04T18:30:47.414Z,1757010647.414 [DAT](INFO): DAT read: user:2820>

2025-09-04T18:30:47.414Z,1757010647.414 [DAT](INFO): DAT read: Tx time:18:30:46.5301

2025-09-04T18:30:47.415Z,1757010647.415 [DAT](INFO): Ping request sent.
2025-09-04T18:30:47.415Z,1757010647.415 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:47.415Z,1757010647.415 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:47.416Z,1757010647.416 [DAT](INFO): direction in FSK: [0.847721,0.107092,-0.519519]
2025-09-04T18:30:47.416Z,1757010647.416 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:47.417Z,1757010647.417 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:47.420Z,1757010647.420 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:47.440Z,1757010647.440 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:47.734Z,1757010647.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.800003 m,
      deltaT: 3.780498 s,
      deltaX: -2.199997 m,
      approachRate: -0.581933 m/s,
      rangeRepo size: 4

2025-09-04T18:30:47.736Z,1757010647.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 191.982559 m,
      bearing: 159.569017 deg,
      lat: 36.779136 deg,
      lon: -121.859356 deg,
      deltaT: 3.780498 s,
      deltaX: -2.188568 m,
      approachRate: -0.578910 m/s,
      posRepo size: 4

2025-09-04T18:30:47.737Z,1757010647.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:47.739Z,1757010647.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 160.554459 m,
      bearing: 159.892963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018188 deg/s,
      cmd heading: 153.163591 deg,
      new cmd heading: 153.149058 deg.

2025-09-04T18:30:47.741Z,1757010647.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672955 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:48.151Z,1757010648.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:48.162Z,1757010648.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 160.269531 m,
      bearing: 159.885947 deg,
      approach rate: -0.684121 m/s,
      LOS rate: -0.016875 deg/s,
      cmd heading: 153.149056 deg,
      new cmd heading: 153.135000 deg.

2025-09-04T18:30:48.163Z,1757010648.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672710 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:48.617Z,1757010648.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:48.620Z,1757010648.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:48.631Z,1757010648.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 159.918839 m,
      bearing: 159.878315 deg,
      approach rate: -0.746399 m/s,
      LOS rate: -0.016279 deg/s,
      cmd heading: 153.135000 deg,
      new cmd heading: 153.119702 deg.

2025-09-04T18:30:48.644Z,1757010648.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672443 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:48.657Z,1757010648.657 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:48.657Z,1757010648.657 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:48.657Z,1757010648.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:48.909Z,1757010648.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494322
2025-09-04T18:30:48.955Z,1757010648.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:48.957Z,1757010648.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 159.645386 m,
      bearing: 159.872338 deg,
      approach rate: -0.816387 m/s,
      LOS rate: -0.017874 deg/s,
      cmd heading: 153.119700 deg,
      new cmd heading: 153.107726 deg.

2025-09-04T18:30:48.958Z,1757010648.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672234 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:49.161Z,1757010649.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746319
2025-09-04T18:30:49.411Z,1757010649.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:49.413Z,1757010649.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998368
2025-09-04T18:30:49.418Z,1757010649.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 159.323898 m,
      bearing: 159.865696 deg,
      approach rate: -0.704860 m/s,
      LOS rate: -0.014593 deg/s,
      cmd heading: 153.107720 deg,
      new cmd heading: 153.094408 deg.

2025-09-04T18:30:49.419Z,1757010649.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672002 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:49.665Z,1757010649.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250394
2025-09-04T18:30:49.795Z,1757010649.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:49.802Z,1757010649.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 159.051346 m,
      bearing: 159.860092 deg,
      approach rate: -0.709475 m/s,
      LOS rate: -0.014612 deg/s,
      cmd heading: 153.094415 deg,
      new cmd heading: 153.083188 deg.

2025-09-04T18:30:49.803Z,1757010649.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671806 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:49.917Z,1757010649.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502241
2025-09-04T18:30:50.169Z,1757010650.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754489
2025-09-04T18:30:50.266Z,1757010650.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:50.272Z,1757010650.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 158.690094 m,
      bearing: 159.852635 deg,
      approach rate: -0.766978 m/s,
      LOS rate: -0.015869 deg/s,
      cmd heading: 153.083186 deg,
      new cmd heading: 153.068237 deg.

2025-09-04T18:30:50.274Z,1757010650.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671545 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:50.421Z,1757010650.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006481
2025-09-04T18:30:50.640Z,1757010650.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:50.642Z,1757010650.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:50.645Z,1757010650.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 158.401932 m,
      bearing: 159.846512 deg,
      approach rate: -0.766224 m/s,
      LOS rate: -0.016310 deg/s,
      cmd heading: 153.068241 deg,
      new cmd heading: 153.055974 deg.

2025-09-04T18:30:50.646Z,1757010650.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671331 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:50.673Z,1757010650.673 [DAT](INFO): DAT read: Rx Time:18:30:49.1895

2025-09-04T18:30:50.674Z,1757010650.674 [DAT](INFO): Rx dataTimestamp_ set to:1757010650.673246
2025-09-04T18:30:50.674Z,1757010650.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259329
2025-09-04T18:30:50.925Z,1757010650.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510453
2025-09-04T18:30:51.035Z,1757010651.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.98 m.
2025-09-04T18:30:51.038Z,1757010651.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.982559 m,
      nav range: 158.112289 m,
      bearing: 159.840379 deg,
      approach rate: -0.737392 m/s,
      LOS rate: -0.015643 deg/s,
      cmd heading: 153.055974 deg,
      new cmd heading: 153.043685 deg.

2025-09-04T18:30:51.039Z,1757010651.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671116 target range: 191.982559 and range: 192.80 m.
2025-09-04T18:30:51.183Z,1757010651.183 [DAT](INFO): DAT read: 18:30:49.1895 LVL= 24208, 30417, 23666, 28467, AGC= 66, IDX= 418,-0.28, 1.553, 0.394, 1.603, 0.464, PHS= 1.192,-0.025, 1.095, RAW= 145.9, -34.3, CAL= 147.1, -34.3, ROT=   2.9,  34.3

2025-09-04T18:30:51.184Z,1757010651.184 [DAT](INFO): got valid direction response:
 18:30:49.1895 LVL= 24208, 30417, 23666, 28467, AGC= 66, IDX= 418,-0.28, 1.553, 0.394, 1.603, 0.464, PHS= 1.192,-0.025, 1.095, RAW= 145.9, -34.3, CAL= 147.1, -34.3, ROT=   2.9,  34.3

2025-09-04T18:30:51.185Z,1757010651.185 [DAT](INFO): DAT read: Bearing 277.4,   1.3 (Local)

2025-09-04T18:30:51.185Z,1757010651.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.4,   1.3 (Local)

2025-09-04T18:30:51.187Z,1757010651.187 [DAT](INFO): DAT read: Range 11 to 50 : 191.4 m  (Round-trip  255.2 ms) speed  0.3 m/s

2025-09-04T18:30:51.188Z,1757010651.188 [DAT](INFO): DAT read: user:2821>

2025-09-04T18:30:51.189Z,1757010651.189 [DAT](INFO): DAT read: Tx time:18:30:50.2801

2025-09-04T18:30:51.189Z,1757010651.189 [DAT](INFO): Ping request sent.
2025-09-04T18:30:51.189Z,1757010651.189 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:30:51.190Z,1757010651.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:30:51.191Z,1757010651.191 [DAT](INFO): direction in FSK: [0.825040,0.041795,-0.563526]
2025-09-04T18:30:51.191Z,1757010651.191 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:51.191Z,1757010651.191 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:51.195Z,1757010651.195 [DAT](INFO): publishing transmit ping time
2025-09-04T18:30:51.195Z,1757010651.195 [DAT](INFO): publishing direction and range info
2025-09-04T18:30:51.494Z,1757010651.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 191.399994 m,
      deltaT: 3.779484 s,
      deltaX: -1.400009 m,
      approachRate: -0.370423 m/s,
      rangeRepo size: 4

2025-09-04T18:30:51.501Z,1757010651.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 190.588348 m,
      bearing: 154.946139 deg,
      lat: 36.779137 deg,
      lon: -121.859356 deg,
      deltaT: 3.779484 s,
      deltaX: -1.394211 m,
      approachRate: -0.368889 m/s,
      posRepo size: 4

2025-09-04T18:30:51.502Z,1757010651.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:51.510Z,1757010651.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 157.629105 m,
      bearing: 159.812614 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015643 deg/s,
      cmd heading: 153.043680 deg,
      new cmd heading: 153.029514 deg.

2025-09-04T18:30:51.510Z,1757010651.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670869 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:51.827Z,1757010651.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:51.830Z,1757010651.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 157.363190 m,
      bearing: 159.808125 deg,
      approach rate: -0.783906 m/s,
      LOS rate: -0.013256 deg/s,
      cmd heading: 153.029514 deg,
      new cmd heading: 153.020521 deg.

2025-09-04T18:30:51.831Z,1757010651.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670712 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:52.304Z,1757010652.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:52.307Z,1757010652.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 157.014282 m,
      bearing: 159.802211 deg,
      approach rate: -0.730664 m/s,
      LOS rate: -0.012411 deg/s,
      cmd heading: 153.020526 deg,
      new cmd heading: 153.008672 deg.

2025-09-04T18:30:52.308Z,1757010652.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670505 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:52.651Z,1757010652.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:52.653Z,1757010652.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:52.656Z,1757010652.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 156.756241 m,
      bearing: 159.796367 deg,
      approach rate: -0.739105 m/s,
      LOS rate: -0.016766 deg/s,
      cmd heading: 153.008668 deg,
      new cmd heading: 152.996961 deg.

2025-09-04T18:30:52.657Z,1757010652.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670301 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:52.690Z,1757010652.690 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:52.690Z,1757010652.690 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:52.690Z,1757010652.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:30:52.941Z,1757010652.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751512
2025-09-04T18:30:53.040Z,1757010653.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:53.043Z,1757010653.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 156.475525 m,
      bearing: 159.790071 deg,
      approach rate: -0.725636 m/s,
      LOS rate: -0.016305 deg/s,
      cmd heading: 152.996961 deg,
      new cmd heading: 152.984346 deg.

2025-09-04T18:30:53.044Z,1757010653.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670080 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:53.193Z,1757010653.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003505
2025-09-04T18:30:53.445Z,1757010653.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255640
2025-09-04T18:30:53.467Z,1757010653.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:53.472Z,1757010653.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 156.160645 m,
      bearing: 159.785715 deg,
      approach rate: -0.736933 m/s,
      LOS rate: -0.010215 deg/s,
      cmd heading: 152.984339 deg,
      new cmd heading: 152.975610 deg.

2025-09-04T18:30:53.474Z,1757010653.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669928 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:53.700Z,1757010653.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509759
2025-09-04T18:30:53.870Z,1757010653.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:53.873Z,1757010653.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 155.883591 m,
      bearing: 159.781894 deg,
      approach rate: -0.688343 m/s,
      LOS rate: -0.009511 deg/s,
      cmd heading: 152.975610 deg,
      new cmd heading: 152.967954 deg.

2025-09-04T18:30:53.874Z,1757010653.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669795 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:53.953Z,1757010653.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763773
2025-09-04T18:30:54.205Z,1757010654.205 [DAT](INFO): DAT read: Rx Time:18:30:52.9363

2025-09-04T18:30:54.206Z,1757010654.206 [DAT](INFO): Rx dataTimestamp_ set to:1757010654.205327
2025-09-04T18:30:54.206Z,1757010654.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016699
2025-09-04T18:30:54.361Z,1757010654.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:54.373Z,1757010654.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 155.519638 m,
      bearing: 159.776790 deg,
      approach rate: -0.740577 m/s,
      LOS rate: -0.010408 deg/s,
      cmd heading: 152.967960 deg,
      new cmd heading: 152.957730 deg.

2025-09-04T18:30:54.374Z,1757010654.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669616 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:54.458Z,1757010654.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268512
2025-09-04T18:30:54.712Z,1757010654.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522262
2025-09-04T18:30:54.823Z,1757010654.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:54.825Z,1757010654.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:54.828Z,1757010654.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 155.168594 m,
      bearing: 159.771278 deg,
      approach rate: -0.756532 m/s,
      LOS rate: -0.011906 deg/s,
      cmd heading: 152.957729 deg,
      new cmd heading: 152.946679 deg.

2025-09-04T18:30:54.829Z,1757010654.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669423 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:54.967Z,1757010654.967 [DAT](INFO): DAT read: 18:30:52.9363 LVL= 20720, 25649, 21874, 25139, AGC= 65, IDX= 402,-0.37, 0.246,-0.962, 0.174,-0.820, PHS= 1.168,-0.097, 0.950, RAW= 140.7, -31.4, CAL= 141.7, -31.9, ROT=   8.3,  31.9

2025-09-04T18:30:54.968Z,1757010654.968 [DAT](INFO): got valid direction response:
 18:30:52.9363 LVL= 20720, 25649, 21874, 25139, AGC= 65, IDX= 402,-0.37, 0.246,-0.962, 0.174,-0.820, PHS= 1.168,-0.097, 0.950, RAW= 140.7, -31.4, CAL= 141.7, -31.9, ROT=   8.3,  31.9

2025-09-04T18:30:54.969Z,1757010654.969 [DAT](INFO): DAT read: $Error in header

2025-09-04T18:30:54.969Z,1757010654.969 [DAT](INFO): Received a bad header
2025-09-04T18:30:54.980Z,1757010654.980 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:30:54.981Z,1757010654.981 [DAT](INFO): direction in FSK: [0.840079,0.122554,-0.528438]
2025-09-04T18:30:54.984Z,1757010654.984 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:54.984Z,1757010654.984 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:54.984Z,1757010654.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:55.192Z,1757010655.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:55.195Z,1757010655.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 154.923050 m,
      bearing: 159.767463 deg,
      approach rate: -0.684614 m/s,
      LOS rate: -0.010655 deg/s,
      cmd heading: 152.946678 deg,
      new cmd heading: 152.939034 deg.

2025-09-04T18:30:55.200Z,1757010655.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669290 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:55.213Z,1757010655.213 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:55.213Z,1757010655.213 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:55.213Z,1757010655.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:55.465Z,1757010655.465 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:55.465Z,1757010655.465 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:55.465Z,1757010655.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:55.582Z,1757010655.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:55.601Z,1757010655.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 154.614914 m,
      bearing: 159.761990 deg,
      approach rate: -0.774855 m/s,
      LOS rate: -0.013788 deg/s,
      cmd heading: 152.939028 deg,
      new cmd heading: 152.928062 deg.

2025-09-04T18:30:55.602Z,1757010655.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669098 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:55.717Z,1757010655.717 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:55.717Z,1757010655.717 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:55.717Z,1757010655.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:55.901Z,1757010655.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:30:55.969Z,1757010655.969 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:55.969Z,1757010655.969 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:55.969Z,1757010655.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:55.973Z,1757010655.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:55.975Z,1757010655.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 154.339233 m,
      bearing: 159.757105 deg,
      approach rate: -0.705118 m/s,
      LOS rate: -0.012518 deg/s,
      cmd heading: 152.928058 deg,
      new cmd heading: 152.918270 deg.

2025-09-04T18:30:55.977Z,1757010655.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668927 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:56.221Z,1757010656.221 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:56.221Z,1757010656.221 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:56.221Z,1757010656.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:56.399Z,1757010656.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:56.402Z,1757010656.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 154.016830 m,
      bearing: 159.753860 deg,
      approach rate: -0.756957 m/s,
      LOS rate: -0.007634 deg/s,
      cmd heading: 152.918264 deg,
      new cmd heading: 152.911761 deg.

2025-09-04T18:30:56.403Z,1757010656.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668814 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:56.475Z,1757010656.475 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:56.475Z,1757010656.475 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:56.475Z,1757010656.475 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:56.725Z,1757010656.725 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:56.725Z,1757010656.725 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:56.725Z,1757010656.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:56.800Z,1757010656.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:56.806Z,1757010656.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 153.755051 m,
      bearing: 159.751208 deg,
      approach rate: -0.659146 m/s,
      LOS rate: -0.006690 deg/s,
      cmd heading: 152.911762 deg,
      new cmd heading: 152.906448 deg.

2025-09-04T18:30:56.807Z,1757010656.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668721 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:56.905Z,1757010656.905 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:30:56.977Z,1757010656.977 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:56.977Z,1757010656.977 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:56.977Z,1757010656.977 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:57.159Z,1757010657.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:57.161Z,1757010657.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:57.164Z,1757010657.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 153.461823 m,
      bearing: 159.748246 deg,
      approach rate: -0.802802 m/s,
      LOS rate: -0.008125 deg/s,
      cmd heading: 152.906448 deg,
      new cmd heading: 152.900512 deg.

2025-09-04T18:30:57.165Z,1757010657.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668617 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:57.230Z,1757010657.230 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:57.230Z,1757010657.230 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:57.230Z,1757010657.230 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:57.482Z,1757010657.482 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:57.482Z,1757010657.482 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:57.482Z,1757010657.482 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:57.601Z,1757010657.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:57.603Z,1757010657.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 153.135864 m,
      bearing: 159.741959 deg,
      approach rate: -0.743087 m/s,
      LOS rate: -0.014364 deg/s,
      cmd heading: 152.900519 deg,
      new cmd heading: 152.887918 deg.

2025-09-04T18:30:57.605Z,1757010657.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668398 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:57.733Z,1757010657.733 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:57.733Z,1757010657.733 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:57.733Z,1757010657.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:57.976Z,1757010657.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:57.979Z,1757010657.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 152.856888 m,
      bearing: 159.736623 deg,
      approach rate: -0.741844 m/s,
      LOS rate: -0.014214 deg/s,
      cmd heading: 152.887924 deg,
      new cmd heading: 152.877234 deg.

2025-09-04T18:30:57.980Z,1757010657.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668211 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:57.985Z,1757010657.985 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:57.985Z,1757010657.985 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:57.985Z,1757010657.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:58.237Z,1757010658.237 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:58.237Z,1757010658.237 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:58.237Z,1757010658.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:58.422Z,1757010658.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:58.425Z,1757010658.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 152.531021 m,
      bearing: 159.731949 deg,
      approach rate: -0.729807 m/s,
      LOS rate: -0.010490 deg/s,
      cmd heading: 152.877228 deg,
      new cmd heading: 152.867860 deg.

2025-09-04T18:30:58.426Z,1757010658.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668047 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:58.490Z,1757010658.490 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:58.490Z,1757010658.490 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:58.490Z,1757010658.490 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:58.741Z,1757010658.741 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:58.741Z,1757010658.741 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:58.741Z,1757010658.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:58.854Z,1757010658.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:58.861Z,1757010658.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 152.229095 m,
      bearing: 159.727641 deg,
      approach rate: -0.699728 m/s,
      LOS rate: -0.010004 deg/s,
      cmd heading: 152.867857 deg,
      new cmd heading: 152.859224 deg.

2025-09-04T18:30:58.862Z,1757010658.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667897 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:58.993Z,1757010658.993 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:58.993Z,1757010658.993 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:58.993Z,1757010658.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:59.215Z,1757010659.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:30:59.228Z,1757010659.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:59.231Z,1757010659.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 151.967041 m,
      bearing: 159.723829 deg,
      approach rate: -0.713403 m/s,
      LOS rate: -0.010397 deg/s,
      cmd heading: 152.859224 deg,
      new cmd heading: 152.851586 deg.

2025-09-04T18:30:59.240Z,1757010659.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667763 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:59.245Z,1757010659.245 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:59.245Z,1757010659.245 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:59.245Z,1757010659.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:59.511Z,1757010659.511 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:59.511Z,1757010659.511 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:59.512Z,1757010659.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:30:59.660Z,1757010659.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:30:59.663Z,1757010659.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 151.644455 m,
      bearing: 159.716256 deg,
      approach rate: -0.734807 m/s,
      LOS rate: -0.017285 deg/s,
      cmd heading: 152.851588 deg,
      new cmd heading: 152.836411 deg.

2025-09-04T18:30:59.668Z,1757010659.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667499 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:30:59.762Z,1757010659.762 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:30:59.762Z,1757010659.762 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:30:59.762Z,1757010659.762 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:00.013Z,1757010660.013 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:00.013Z,1757010660.013 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:00.013Z,1757010660.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:00.015Z,1757010660.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:00.018Z,1757010660.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 151.365814 m,
      bearing: 159.709617 deg,
      approach rate: -0.785180 m/s,
      LOS rate: -0.018743 deg/s,
      cmd heading: 152.836411 deg,
      new cmd heading: 152.823108 deg.

2025-09-04T18:31:00.019Z,1757010660.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667266 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:00.265Z,1757010660.265 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:00.265Z,1757010660.265 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:00.265Z,1757010660.265 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:00.491Z,1757010660.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:00.500Z,1757010660.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 151.033127 m,
      bearing: 159.703530 deg,
      approach rate: -0.699146 m/s,
      LOS rate: -0.012821 deg/s,
      cmd heading: 152.823106 deg,
      new cmd heading: 152.810904 deg.

2025-09-04T18:31:00.506Z,1757010660.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667053 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:00.517Z,1757010660.517 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:00.517Z,1757010660.517 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:00.517Z,1757010660.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:00.770Z,1757010660.770 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:00.770Z,1757010660.770 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:00.770Z,1757010660.770 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:00.878Z,1757010660.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:00.881Z,1757010660.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 150.743073 m,
      bearing: 159.698261 deg,
      approach rate: -0.749398 m/s,
      LOS rate: -0.013638 deg/s,
      cmd heading: 152.810907 deg,
      new cmd heading: 152.800350 deg.

2025-09-04T18:31:00.882Z,1757010660.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666869 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:01.021Z,1757010661.021 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:01.021Z,1757010661.021 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:01.022Z,1757010661.022 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:01.273Z,1757010661.273 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:01.274Z,1757010661.274 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:01.274Z,1757010661.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:01.402Z,1757010661.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:01.411Z,1757010661.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:01.445Z,1757010661.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 150.371597 m,
      bearing: 159.691595 deg,
      approach rate: -0.698057 m/s,
      LOS rate: -0.012558 deg/s,
      cmd heading: 152.800348 deg,
      new cmd heading: 152.786981 deg.

2025-09-04T18:31:01.446Z,1757010661.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666636 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:01.525Z,1757010661.525 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:01.526Z,1757010661.526 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:01.526Z,1757010661.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:01.777Z,1757010661.777 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:01.777Z,1757010661.777 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:01.777Z,1757010661.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:01.894Z,1757010661.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:01.901Z,1757010661.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 149.998993 m,
      bearing: 159.681392 deg,
      approach rate: -0.769588 m/s,
      LOS rate: -0.021124 deg/s,
      cmd heading: 152.786988 deg,
      new cmd heading: 152.766533 deg.

2025-09-04T18:31:01.902Z,1757010661.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666279 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:02.029Z,1757010662.029 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:02.029Z,1757010662.029 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:02.030Z,1757010662.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:02.281Z,1757010662.281 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:02.281Z,1757010662.281 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:02.281Z,1757010662.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:02.301Z,1757010662.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:02.303Z,1757010662.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 149.691162 m,
      bearing: 159.673027 deg,
      approach rate: -0.757350 m/s,
      LOS rate: -0.020625 deg/s,
      cmd heading: 152.766538 deg,
      new cmd heading: 152.749772 deg.

2025-09-04T18:31:02.304Z,1757010662.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665987 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:02.533Z,1757010662.533 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:02.533Z,1757010662.533 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:02.533Z,1757010662.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:02.733Z,1757010662.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:02.761Z,1757010662.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 149.393570 m,
      bearing: 159.663505 deg,
      approach rate: -0.688006 m/s,
      LOS rate: -0.022057 deg/s,
      cmd heading: 152.749777 deg,
      new cmd heading: 152.730696 deg.

2025-09-04T18:31:02.763Z,1757010662.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665653 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:02.785Z,1757010662.785 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:02.785Z,1757010662.785 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:02.785Z,1757010662.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:03.037Z,1757010663.037 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:03.037Z,1757010663.037 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:03.037Z,1757010663.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:03.104Z,1757010663.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:03.107Z,1757010663.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 149.128098 m,
      bearing: 159.655096 deg,
      approach rate: -0.717619 m/s,
      LOS rate: -0.022772 deg/s,
      cmd heading: 152.730693 deg,
      new cmd heading: 152.713845 deg.

2025-09-04T18:31:03.108Z,1757010663.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665359 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:03.289Z,1757010663.289 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:03.289Z,1757010663.289 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:03.289Z,1757010663.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:03.541Z,1757010663.541 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:31:03.541Z,1757010663.541 [DAT](INFO): response not received
2025-09-04T18:31:03.542Z,1757010663.542 [DAT](INFO): DAT read: user:2823>

2025-09-04T18:31:03.543Z,1757010663.543 [DAT](INFO): DAT read: Tx time:18:31:02.7300

2025-09-04T18:31:03.543Z,1757010663.543 [DAT](INFO): Ping request sent.
2025-09-04T18:31:03.543Z,1757010663.543 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:03.543Z,1757010663.543 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:03.544Z,1757010663.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-09-04T18:31:03.544Z,1757010663.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:03.546Z,1757010663.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:03.565Z,1757010663.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 148.794922 m,
      bearing: 159.644029 deg,
      approach rate: -0.751648 m/s,
      LOS rate: -0.025023 deg/s,
      cmd heading: 152.713850 deg,
      new cmd heading: 152.691666 deg.

2025-09-04T18:31:03.566Z,1757010663.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664972 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:03.794Z,1757010663.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250706
2025-09-04T18:31:03.890Z,1757010663.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:03.893Z,1757010663.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 148.541718 m,
      bearing: 159.635671 deg,
      approach rate: -0.737633 m/s,
      LOS rate: -0.024389 deg/s,
      cmd heading: 152.691666 deg,
      new cmd heading: 152.674922 deg.

2025-09-04T18:31:03.893Z,1757010663.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664680 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:04.045Z,1757010664.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502018
2025-09-04T18:31:04.297Z,1757010664.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754131
2025-09-04T18:31:04.313Z,1757010664.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:04.316Z,1757010664.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 148.237274 m,
      bearing: 159.625584 deg,
      approach rate: -0.719374 m/s,
      LOS rate: -0.023885 deg/s,
      cmd heading: 152.674918 deg,
      new cmd heading: 152.654702 deg.

2025-09-04T18:31:04.317Z,1757010664.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664327 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:04.551Z,1757010664.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007810
2025-09-04T18:31:04.715Z,1757010664.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:04.734Z,1757010664.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 147.947021 m,
      bearing: 159.618153 deg,
      approach rate: -0.721367 m/s,
      LOS rate: -0.018504 deg/s,
      cmd heading: 152.654701 deg,
      new cmd heading: 152.639810 deg.

2025-09-04T18:31:04.735Z,1757010664.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664067 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:04.801Z,1757010664.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258041
2025-09-04T18:31:05.053Z,1757010665.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510054
2025-09-04T18:31:05.117Z,1757010665.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:05.120Z,1757010665.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 147.658234 m,
      bearing: 159.610798 deg,
      approach rate: -0.718780 m/s,
      LOS rate: -0.018341 deg/s,
      cmd heading: 152.639811 deg,
      new cmd heading: 152.625073 deg.

2025-09-04T18:31:05.121Z,1757010665.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663810 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:05.305Z,1757010665.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762151
2025-09-04T18:31:05.557Z,1757010665.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014146
2025-09-04T18:31:05.560Z,1757010665.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:05.562Z,1757010665.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:05.566Z,1757010665.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 147.346436 m,
      bearing: 159.603251 deg,
      approach rate: -0.700166 m/s,
      LOS rate: -0.016984 deg/s,
      cmd heading: 152.625071 deg,
      new cmd heading: 152.609945 deg.

2025-09-04T18:31:05.567Z,1757010665.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663546 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:05.810Z,1757010665.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266719
2025-09-04T18:31:05.925Z,1757010665.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:05.927Z,1757010665.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 147.086166 m,
      bearing: 159.596962 deg,
      approach rate: -0.718099 m/s,
      LOS rate: -0.017383 deg/s,
      cmd heading: 152.609949 deg,
      new cmd heading: 152.597349 deg.

2025-09-04T18:31:05.929Z,1757010665.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663326 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:06.062Z,1757010666.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518982
2025-09-04T18:31:06.313Z,1757010666.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770142
2025-09-04T18:31:06.346Z,1757010666.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:06.350Z,1757010666.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 146.787827 m,
      bearing: 159.589767 deg,
      approach rate: -0.708333 m/s,
      LOS rate: -0.017117 deg/s,
      cmd heading: 152.597354 deg,
      new cmd heading: 152.582935 deg.

2025-09-04T18:31:06.350Z,1757010666.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663074 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:06.567Z,1757010666.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023536
2025-09-04T18:31:06.782Z,1757010666.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:06.789Z,1757010666.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 146.472061 m,
      bearing: 159.585237 deg,
      approach rate: -0.723907 m/s,
      LOS rate: -0.010406 deg/s,
      cmd heading: 152.582929 deg,
      new cmd heading: 152.573851 deg.

2025-09-04T18:31:06.790Z,1757010666.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662916 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:06.817Z,1757010666.817 [DAT](INFO): DAT read: Rx Time:18:31:05.3775

2025-09-04T18:31:06.818Z,1757010666.818 [DAT](INFO): Rx dataTimestamp_ set to:1757010666.817304
2025-09-04T18:31:06.818Z,1757010666.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275139
2025-09-04T18:31:07.069Z,1757010667.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526312
2025-09-04T18:31:07.199Z,1757010667.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.59 m.
2025-09-04T18:31:07.206Z,1757010667.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 190.588348 m,
      nav range: 146.215744 m,
      bearing: 159.581590 deg,
      approach rate: -0.614350 m/s,
      LOS rate: -0.008758 deg/s,
      cmd heading: 152.573845 deg,
      new cmd heading: 152.566537 deg.

2025-09-04T18:31:07.207Z,1757010667.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662788 target range: 190.588348 and range: 191.40 m.
2025-09-04T18:31:07.327Z,1757010667.327 [DAT](INFO): DAT read: 18:31:05.3775 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 360,-0.16,-3.101, 1.963, 3.059, 2.038, PHS= 1.246,-0.030, 0.976, RAW= 138.4, -33.6, CAL= 139.6, -33.6, ROT=  10.4,  33.6

2025-09-04T18:31:07.329Z,1757010667.329 [DAT](INFO): got valid direction response:
 18:31:05.3775 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 360,-0.16,-3.101, 1.963, 3.059, 2.038, PHS= 1.246,-0.030, 0.976, RAW= 138.4, -33.6, CAL= 139.6, -33.6, ROT=  10.4,  33.6

2025-09-04T18:31:07.330Z,1757010667.330 [DAT](INFO): DAT read: Bearing 278.0,   7.7 (Local)

2025-09-04T18:31:07.330Z,1757010667.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.0,   7.7 (Local)

2025-09-04T18:31:07.331Z,1757010667.331 [DAT](INFO): DAT read: Range 11 to 50 : 182.4 m  (Round-trip  243.3 ms) speed  0.5 m/s

2025-09-04T18:31:07.332Z,1757010667.332 [DAT](INFO): DAT read: user:2824>

2025-09-04T18:31:07.333Z,1757010667.333 [DAT](INFO): DAT read: Tx time:18:31:06.4800

2025-09-04T18:31:07.333Z,1757010667.333 [DAT](INFO): Ping request sent.
2025-09-04T18:31:07.333Z,1757010667.333 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:07.334Z,1757010667.334 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:31:07.335Z,1757010667.335 [DAT](INFO): direction in FSK: [0.819238,0.150358,-0.553392]
2025-09-04T18:31:07.335Z,1757010667.335 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:07.335Z,1757010667.335 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:07.339Z,1757010667.339 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:07.339Z,1757010667.339 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:07.647Z,1757010667.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.399994 m,
      deltaT: 16.143969 s,
      deltaX: -9.000000 m,
      approachRate: -0.557484 m/s,
      rangeRepo size: 4

2025-09-04T18:31:07.654Z,1757010667.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.625961 m,
      bearing: 161.991843 deg,
      lat: 36.779137 deg,
      lon: -121.859356 deg,
      deltaT: 16.143969 s,
      deltaX: -8.962387 m,
      approachRate: -0.555154 m/s,
      posRepo size: 4

2025-09-04T18:31:07.655Z,1757010667.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:07.670Z,1757010667.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 145.870117 m,
      bearing: 159.578713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008758 deg/s,
      cmd heading: 152.566537 deg,
      new cmd heading: 152.558711 deg.

2025-09-04T18:31:07.671Z,1757010667.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662652 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:07.946Z,1757010667.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:07.949Z,1757010667.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:07.951Z,1757010667.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 145.626801 m,
      bearing: 159.576675 deg,
      approach rate: -0.806416 m/s,
      LOS rate: -0.006766 deg/s,
      cmd heading: 152.558709 deg,
      new cmd heading: 152.554626 deg.

2025-09-04T18:31:07.969Z,1757010667.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662580 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:08.078Z,1757010668.078 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:08.078Z,1757010668.078 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:08.078Z,1757010668.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:08.329Z,1757010668.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995825
2025-09-04T18:31:08.376Z,1757010668.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:08.379Z,1757010668.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 145.315186 m,
      bearing: 159.574055 deg,
      approach rate: -0.727425 m/s,
      LOS rate: -0.006129 deg/s,
      cmd heading: 152.554625 deg,
      new cmd heading: 152.549373 deg.

2025-09-04T18:31:08.380Z,1757010668.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662489 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:08.581Z,1757010668.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247676
2025-09-04T18:31:08.833Z,1757010668.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499553
2025-09-04T18:31:08.862Z,1757010668.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:08.866Z,1757010668.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 144.971939 m,
      bearing: 159.574765 deg,
      approach rate: -0.711932 m/s,
      LOS rate: 0.001477 deg/s,
      cmd heading: 152.549379 deg,
      new cmd heading: 152.550803 deg.

2025-09-04T18:31:08.867Z,1757010668.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662514 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:09.087Z,1757010669.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753122
2025-09-04T18:31:09.193Z,1757010669.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:09.216Z,1757010669.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 144.703293 m,
      bearing: 159.575288 deg,
      approach rate: -0.802176 m/s,
      LOS rate: 0.001563 deg/s,
      cmd heading: 152.550800 deg,
      new cmd heading: 152.551847 deg.

2025-09-04T18:31:09.217Z,1757010669.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662532 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:09.337Z,1757010669.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003546
2025-09-04T18:31:09.589Z,1757010669.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255620
2025-09-04T18:31:09.650Z,1757010669.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:09.653Z,1757010669.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 144.360947 m,
      bearing: 159.573510 deg,
      approach rate: -0.748812 m/s,
      LOS rate: -0.003898 deg/s,
      cmd heading: 152.551852 deg,
      new cmd heading: 152.548287 deg.

2025-09-04T18:31:09.654Z,1757010669.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662470 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:09.841Z,1757010669.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507454
2025-09-04T18:31:10.013Z,1757010670.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:10.015Z,1757010670.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:10.018Z,1757010670.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 144.103714 m,
      bearing: 159.572185 deg,
      approach rate: -0.706173 m/s,
      LOS rate: -0.003644 deg/s,
      cmd heading: 152.548286 deg,
      new cmd heading: 152.545631 deg.

2025-09-04T18:31:10.019Z,1757010670.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662424 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:10.093Z,1757010670.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759981
2025-09-04T18:31:10.345Z,1757010670.345 [DAT](INFO): DAT read: Rx Time:18:31:09.1252

2025-09-04T18:31:10.346Z,1757010670.346 [DAT](INFO): Rx dataTimestamp_ set to:1757010670.345359
2025-09-04T18:31:10.346Z,1757010670.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012713
2025-09-04T18:31:10.424Z,1757010670.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:10.427Z,1757010670.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 143.790344 m,
      bearing: 159.570529 deg,
      approach rate: -0.765562 m/s,
      LOS rate: -0.004053 deg/s,
      cmd heading: 152.545636 deg,
      new cmd heading: 152.542318 deg.

2025-09-04T18:31:10.428Z,1757010670.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662366 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:10.597Z,1757010670.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263518
2025-09-04T18:31:10.849Z,1757010670.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515511
2025-09-04T18:31:10.875Z,1757010670.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.63 m.
2025-09-04T18:31:10.911Z,1757010670.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.625961 m,
      nav range: 143.482193 m,
      bearing: 159.567465 deg,
      approach rate: -0.684613 m/s,
      LOS rate: -0.006823 deg/s,
      cmd heading: 152.542317 deg,
      new cmd heading: 152.536175 deg.

2025-09-04T18:31:10.923Z,1757010670.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662258 target range: 181.625961 and range: 182.40 m.
2025-09-04T18:31:11.107Z,1757010671.107 [DAT](INFO): DAT read: 18:31:09.1252 LVL= 20592, 25697, 20642, 26291, AGC= 66, IDX= 417,-0.05,-2.788, 2.314,-2.914, 2.372, PHS= 1.226,-0.013, 0.954, RAW= 137.9, -34.2, CAL= 139.1, -34.0, ROT=  10.9,  34.0

2025-09-04T18:31:11.109Z,1757010671.109 [DAT](INFO): got valid direction response:
 18:31:09.1252 LVL= 20592, 25697, 20642, 26291, AGC= 66, IDX= 417,-0.05,-2.788, 2.314,-2.914, 2.372, PHS= 1.226,-0.013, 0.954, RAW= 137.9, -34.2, CAL= 139.1, -34.0, ROT=  10.9,  34.0

2025-09-04T18:31:11.110Z,1757010671.110 [DAT](INFO): DAT read: Bearing 277.6,   7.9 (Local)

2025-09-04T18:31:11.110Z,1757010671.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.6,   7.9 (Local)

2025-09-04T18:31:11.111Z,1757010671.111 [DAT](INFO): DAT read: Range 11 to 50 : 180.8 m  (Round-trip  241.1 ms) speed  0.4 m/s

2025-09-04T18:31:11.112Z,1757010671.112 [DAT](INFO): DAT read: user:2825>

2025-09-04T18:31:11.113Z,1757010671.113 [DAT](INFO): DAT read: Tx time:18:31:10.2300

2025-09-04T18:31:11.113Z,1757010671.113 [DAT](INFO): Ping request sent.
2025-09-04T18:31:11.113Z,1757010671.113 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:11.114Z,1757010671.114 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:31:11.115Z,1757010671.115 [DAT](INFO): direction in FSK: [0.814081,0.156767,-0.559193]
2025-09-04T18:31:11.115Z,1757010671.115 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:11.115Z,1757010671.115 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:11.139Z,1757010671.139 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:11.139Z,1757010671.139 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:11.389Z,1757010671.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.800003 m,
      deltaT: 3.780029 s,
      deltaX: -1.599991 m,
      approachRate: -0.423275 m/s,
      rangeRepo size: 4

2025-09-04T18:31:11.391Z,1757010671.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.031723 m,
      bearing: 162.562199 deg,
      lat: 36.779114 deg,
      lon: -121.859418 deg,
      deltaT: 3.780029 s,
      deltaX: -1.594238 m,
      approachRate: -0.421753 m/s,
      posRepo size: 4

2025-09-04T18:31:11.391Z,1757010671.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:11.402Z,1757010671.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 143.804565 m,
      bearing: 161.995371 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006823 deg/s,
      cmd heading: 152.536170 deg,
      new cmd heading: 152.529270 deg.

2025-09-04T18:31:11.403Z,1757010671.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662138 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:11.841Z,1757010671.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:11.844Z,1757010671.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 143.464935 m,
      bearing: 161.995997 deg,
      approach rate: -0.736464 m/s,
      LOS rate: 0.001360 deg/s,
      cmd heading: 152.529271 deg,
      new cmd heading: 152.530526 deg.

2025-09-04T18:31:11.845Z,1757010671.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662160 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:12.155Z,1757010672.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:12.158Z,1757010672.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:12.161Z,1757010672.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 143.218567 m,
      bearing: 161.996439 deg,
      approach rate: -0.777558 m/s,
      LOS rate: 0.001396 deg/s,
      cmd heading: 152.530528 deg,
      new cmd heading: 152.531412 deg.

2025-09-04T18:31:12.162Z,1757010672.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662175 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:12.361Z,1757010672.361 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:12.361Z,1757010672.361 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:12.361Z,1757010672.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:12.614Z,1757010672.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499955
2025-09-04T18:31:12.632Z,1757010672.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:12.635Z,1757010672.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 142.866547 m,
      bearing: 161.996337 deg,
      approach rate: -0.742657 m/s,
      LOS rate: -0.000215 deg/s,
      cmd heading: 152.531416 deg,
      new cmd heading: 152.531212 deg.

2025-09-04T18:31:12.636Z,1757010672.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662172 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:12.869Z,1757010672.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755505
2025-09-04T18:31:12.960Z,1757010672.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:12.963Z,1757010672.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 142.623810 m,
      bearing: 161.996318 deg,
      approach rate: -0.740254 m/s,
      LOS rate: -0.000058 deg/s,
      cmd heading: 152.531211 deg,
      new cmd heading: 152.531173 deg.

2025-09-04T18:31:12.980Z,1757010672.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662171 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:13.117Z,1757010673.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003671
2025-09-04T18:31:13.369Z,1757010673.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255530
2025-09-04T18:31:13.385Z,1757010673.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:13.387Z,1757010673.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 142.322784 m,
      bearing: 161.996360 deg,
      approach rate: -0.708093 m/s,
      LOS rate: 0.000098 deg/s,
      cmd heading: 152.531170 deg,
      new cmd heading: 152.531253 deg.

2025-09-04T18:31:13.397Z,1757010673.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662173 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:13.623Z,1757010673.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508967
2025-09-04T18:31:13.831Z,1757010673.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:13.834Z,1757010673.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 141.987045 m,
      bearing: 161.995178 deg,
      approach rate: -0.752458 m/s,
      LOS rate: -0.002655 deg/s,
      cmd heading: 152.531252 deg,
      new cmd heading: 152.528882 deg.

2025-09-04T18:31:13.835Z,1757010673.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662131 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:13.873Z,1757010673.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759776
2025-09-04T18:31:14.125Z,1757010674.125 [DAT](INFO): DAT read: Rx Time:18:31:12.8732

2025-09-04T18:31:14.126Z,1757010674.126 [DAT](INFO): Rx dataTimestamp_ set to:1757010674.125225
2025-09-04T18:31:14.126Z,1757010674.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012572
2025-09-04T18:31:14.233Z,1757010674.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:14.236Z,1757010674.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:14.241Z,1757010674.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 141.692474 m,
      bearing: 161.994145 deg,
      approach rate: -0.727999 m/s,
      LOS rate: -0.002558 deg/s,
      cmd heading: 152.528889 deg,
      new cmd heading: 152.526819 deg.

2025-09-04T18:31:14.243Z,1757010674.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662095 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:14.378Z,1757010674.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264229
2025-09-04T18:31:14.633Z,1757010674.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518681
2025-09-04T18:31:14.767Z,1757010674.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.03 m.
2025-09-04T18:31:14.775Z,1757010674.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.031723 m,
      nav range: 141.331223 m,
      bearing: 161.990890 deg,
      approach rate: -0.679817 m/s,
      LOS rate: -0.006140 deg/s,
      cmd heading: 152.526812 deg,
      new cmd heading: 152.520287 deg.

2025-09-04T18:31:14.775Z,1757010674.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661981 target range: 180.031723 and range: 180.80 m.
2025-09-04T18:31:14.893Z,1757010674.893 [DAT](INFO): DAT read: 18:31:12.8732 LVL= 28960, 29681, 26914, 26355, AGC= 68, IDX= 424,-0.17, 0.608,-0.604, 0.363,-0.666, PHS= 1.376, 0.108, 0.986, RAW= 132.5, -37.8, CAL= 134.2, -36.7, ROT=  15.8,  36.7

2025-09-04T18:31:14.894Z,1757010674.894 [DAT](INFO): got valid direction response:
 18:31:12.8732 LVL= 28960, 29681, 26914, 26355, AGC= 68, IDX= 424,-0.17, 0.608,-0.604, 0.363,-0.666, PHS= 1.376, 0.108, 0.986, RAW= 132.5, -37.8, CAL= 134.2, -36.7, ROT=  15.8,  36.7

2025-09-04T18:31:14.895Z,1757010674.895 [DAT](INFO): DAT read: Bearing 274.4,  11.5 (Local)

2025-09-04T18:31:14.895Z,1757010674.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.4,  11.5 (Local)

2025-09-04T18:31:14.897Z,1757010674.897 [DAT](INFO): DAT read: Range 11 to 50 : 179.2 m  (Round-trip  239.0 ms) speed  0.5 m/s

2025-09-04T18:31:14.897Z,1757010674.897 [DAT](INFO): DAT read: user:2826>

2025-09-04T18:31:14.898Z,1757010674.898 [DAT](INFO): DAT read: Tx time:18:31:13.9800

2025-09-04T18:31:14.898Z,1757010674.898 [DAT](INFO): Ping request sent.
2025-09-04T18:31:14.899Z,1757010674.899 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:14.899Z,1757010674.899 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:31:14.928Z,1757010674.928 [DAT](INFO): direction in FSK: [0.771483,0.218308,-0.597625]
2025-09-04T18:31:14.929Z,1757010674.929 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:14.929Z,1757010674.929 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:14.938Z,1757010674.938 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:14.939Z,1757010674.939 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:15.185Z,1757010675.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.199997 m,
      deltaT: 3.780281 s,
      deltaX: -1.600006 m,
      approachRate: -0.423251 m/s,
      rangeRepo size: 4

2025-09-04T18:31:15.187Z,1757010675.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.434601 m,
      bearing: 167.474669 deg,
      lat: 36.779112 deg,
      lon: -121.859418 deg,
      deltaT: 3.780281 s,
      deltaX: -1.597122 m,
      approachRate: -0.422488 m/s,
      posRepo size: 4

2025-09-04T18:31:15.188Z,1757010675.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:15.194Z,1757010675.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 141.243683 m,
      bearing: 162.016263 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006140 deg/s,
      cmd heading: 152.520283 deg,
      new cmd heading: 152.515212 deg.

2025-09-04T18:31:15.195Z,1757010675.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661893 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:15.563Z,1757010675.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:15.566Z,1757010675.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 140.960953 m,
      bearing: 162.013769 deg,
      approach rate: -0.737413 m/s,
      LOS rate: -0.006518 deg/s,
      cmd heading: 152.515215 deg,
      new cmd heading: 152.510216 deg.

2025-09-04T18:31:15.567Z,1757010675.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661805 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:16.096Z,1757010676.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:16.099Z,1757010676.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 140.593460 m,
      bearing: 162.009255 deg,
      approach rate: -0.690214 m/s,
      LOS rate: -0.008499 deg/s,
      cmd heading: 152.510215 deg,
      new cmd heading: 152.501164 deg.

2025-09-04T18:31:16.100Z,1757010676.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661647 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:16.488Z,1757010676.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:16.492Z,1757010676.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:16.504Z,1757010676.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 140.303375 m,
      bearing: 162.005699 deg,
      approach rate: -0.732891 m/s,
      LOS rate: -0.009003 deg/s,
      cmd heading: 152.501158 deg,
      new cmd heading: 152.494031 deg.

2025-09-04T18:31:16.506Z,1757010676.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661523 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:16.649Z,1757010676.649 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:16.650Z,1757010676.650 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:16.651Z,1757010676.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:16.897Z,1757010676.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998307
2025-09-04T18:31:16.918Z,1757010676.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:16.945Z,1757010676.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 139.986130 m,
      bearing: 162.000964 deg,
      approach rate: -0.743512 m/s,
      LOS rate: -0.011122 deg/s,
      cmd heading: 152.494027 deg,
      new cmd heading: 152.484536 deg.

2025-09-04T18:31:16.946Z,1757010676.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661357 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:17.149Z,1757010677.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250420
2025-09-04T18:31:17.291Z,1757010677.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:17.294Z,1757010677.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 139.722534 m,
      bearing: 161.997104 deg,
      approach rate: -0.706791 m/s,
      LOS rate: -0.010370 deg/s,
      cmd heading: 152.484533 deg,
      new cmd heading: 152.476798 deg.

2025-09-04T18:31:17.295Z,1757010677.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661222 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:17.402Z,1757010677.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503087
2025-09-04T18:31:17.656Z,1757010677.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756788
2025-09-04T18:31:17.763Z,1757010677.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:17.770Z,1757010677.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 139.399429 m,
      bearing: 161.993644 deg,
      approach rate: -0.684483 m/s,
      LOS rate: -0.007347 deg/s,
      cmd heading: 152.476802 deg,
      new cmd heading: 152.469865 deg.

2025-09-04T18:31:17.771Z,1757010677.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661101 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:17.905Z,1757010677.905 [DAT](INFO): DAT read: Rx Time:18:31:16.5783

2025-09-04T18:31:17.905Z,1757010677.905 [DAT](INFO): Rx dataTimestamp_ set to:1757010677.905120
2025-09-04T18:31:17.906Z,1757010677.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007327
2025-09-04T18:31:18.094Z,1757010678.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:18.097Z,1757010678.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 139.153915 m,
      bearing: 161.991004 deg,
      approach rate: -0.742333 m/s,
      LOS rate: -0.007996 deg/s,
      cmd heading: 152.469862 deg,
      new cmd heading: 152.464573 deg.

2025-09-04T18:31:18.098Z,1757010678.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661009 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:18.158Z,1757010678.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259338
2025-09-04T18:31:18.416Z,1757010678.416 [DAT](INFO): DAT read: 18:31:16.5783 LVL= 22928, 29457, 25138, 32755, AGC= 71, IDX= 496, 0.24, 1.702,-0.268, 1.327, 1.278, PHS= 0.526,-1.500, 0.005, RAW= 135.7,  10.7, CAL= 135.2,  11.7, ROT=  14.8, -11.7

2025-09-04T18:31:18.417Z,1757010678.417 [DAT](INFO): got valid direction response:
 18:31:16.5783 LVL= 22928, 29457, 25138, 32755, AGC= 71, IDX= 496, 0.24, 1.702,-0.268, 1.327, 1.278, PHS= 0.526,-1.500, 0.005, RAW= 135.7,  10.7, CAL= 135.2,  11.7, ROT=  14.8, -11.7

2025-09-04T18:31:18.417Z,1757010678.417 [DAT](INFO): DAT read: $Error in header

2025-09-04T18:31:18.418Z,1757010678.418 [DAT](INFO): Received a bad header
2025-09-04T18:31:18.432Z,1757010678.432 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:31:18.433Z,1757010678.433 [DAT](INFO): direction in FSK: [0.946736,0.250138,0.202787]
2025-09-04T18:31:18.441Z,1757010678.441 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:18.441Z,1757010678.441 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:18.441Z,1757010678.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:18.514Z,1757010678.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:18.520Z,1757010678.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:18.523Z,1757010678.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 138.857864 m,
      bearing: 161.987868 deg,
      approach rate: -0.701237 m/s,
      LOS rate: -0.007445 deg/s,
      cmd heading: 152.464575 deg,
      new cmd heading: 152.458289 deg.

2025-09-04T18:31:18.528Z,1757010678.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660899 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:18.664Z,1757010678.664 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:18.664Z,1757010678.664 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:18.665Z,1757010678.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:18.913Z,1757010678.913 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:18.913Z,1757010678.913 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:18.913Z,1757010678.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:18.973Z,1757010678.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:18.975Z,1757010678.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 138.519073 m,
      bearing: 161.982951 deg,
      approach rate: -0.742394 m/s,
      LOS rate: -0.010801 deg/s,
      cmd heading: 152.458292 deg,
      new cmd heading: 152.448434 deg.

2025-09-04T18:31:18.976Z,1757010678.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660727 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:19.165Z,1757010679.165 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:19.165Z,1757010679.165 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:19.165Z,1757010679.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:19.333Z,1757010679.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:19.336Z,1757010679.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 138.256989 m,
      bearing: 161.979280 deg,
      approach rate: -0.727482 m/s,
      LOS rate: -0.010208 deg/s,
      cmd heading: 152.448429 deg,
      new cmd heading: 152.441074 deg.

2025-09-04T18:31:19.337Z,1757010679.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660599 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:19.418Z,1757010679.418 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:19.418Z,1757010679.418 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:19.419Z,1757010679.419 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:19.675Z,1757010679.675 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:19.675Z,1757010679.675 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:19.676Z,1757010679.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:19.825Z,1757010679.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:19.828Z,1757010679.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 137.907455 m,
      bearing: 161.978053 deg,
      approach rate: -0.709569 m/s,
      LOS rate: -0.002496 deg/s,
      cmd heading: 152.441080 deg,
      new cmd heading: 152.438620 deg.

2025-09-04T18:31:19.829Z,1757010679.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660556 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:19.922Z,1757010679.922 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:19.922Z,1757010679.922 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:19.922Z,1757010679.922 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:20.150Z,1757010680.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:20.153Z,1757010680.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 137.677551 m,
      bearing: 161.977326 deg,
      approach rate: -0.708064 m/s,
      LOS rate: -0.002243 deg/s,
      cmd heading: 152.438621 deg,
      new cmd heading: 152.437164 deg.

2025-09-04T18:31:20.154Z,1757010680.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660530 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:20.173Z,1757010680.173 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:20.173Z,1757010680.173 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:20.173Z,1757010680.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:20.425Z,1757010680.425 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:20.425Z,1757010680.425 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:20.425Z,1757010680.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:20.552Z,1757010680.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:20.554Z,1757010680.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:20.558Z,1757010680.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 137.392593 m,
      bearing: 161.976441 deg,
      approach rate: -0.705320 m/s,
      LOS rate: -0.002197 deg/s,
      cmd heading: 152.437159 deg,
      new cmd heading: 152.435384 deg.

2025-09-04T18:31:20.559Z,1757010680.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660499 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:20.681Z,1757010680.681 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:20.681Z,1757010680.681 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:20.681Z,1757010680.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:20.929Z,1757010680.929 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:20.929Z,1757010680.929 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:20.929Z,1757010680.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:21.025Z,1757010681.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:21.028Z,1757010681.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 137.057587 m,
      bearing: 161.976869 deg,
      approach rate: -0.718712 m/s,
      LOS rate: 0.000920 deg/s,
      cmd heading: 152.435383 deg,
      new cmd heading: 152.436241 deg.

2025-09-04T18:31:21.037Z,1757010681.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660514 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:21.181Z,1757010681.181 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:21.181Z,1757010681.181 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:21.181Z,1757010681.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:21.388Z,1757010681.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:21.390Z,1757010681.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 136.782410 m,
      bearing: 161.977257 deg,
      approach rate: -0.749095 m/s,
      LOS rate: 0.001061 deg/s,
      cmd heading: 152.436244 deg,
      new cmd heading: 152.437023 deg.

2025-09-04T18:31:21.391Z,1757010681.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660528 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:21.433Z,1757010681.433 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:21.433Z,1757010681.433 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:21.433Z,1757010681.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:21.689Z,1757010681.689 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:21.690Z,1757010681.690 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:21.690Z,1757010681.690 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:21.820Z,1757010681.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:21.822Z,1757010681.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 136.461258 m,
      bearing: 161.979943 deg,
      approach rate: -0.743336 m/s,
      LOS rate: 0.006231 deg/s,
      cmd heading: 152.437023 deg,
      new cmd heading: 152.442406 deg.

2025-09-04T18:31:21.823Z,1757010681.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660622 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:21.937Z,1757010681.937 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:21.937Z,1757010681.937 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:21.937Z,1757010681.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:22.189Z,1757010682.189 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:22.189Z,1757010682.189 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:22.189Z,1757010682.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:22.197Z,1757010682.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:22.200Z,1757010682.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 136.182327 m,
      bearing: 161.982235 deg,
      approach rate: -0.740960 m/s,
      LOS rate: 0.006102 deg/s,
      cmd heading: 152.442405 deg,
      new cmd heading: 152.446998 deg.

2025-09-04T18:31:22.201Z,1757010682.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660702 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:22.441Z,1757010682.441 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:22.441Z,1757010682.441 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:22.441Z,1757010682.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:22.626Z,1757010682.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:22.633Z,1757010682.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:22.636Z,1757010682.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 135.865875 m,
      bearing: 161.984847 deg,
      approach rate: -0.724465 m/s,
      LOS rate: 0.005994 deg/s,
      cmd heading: 152.446995 deg,
      new cmd heading: 152.452231 deg.

2025-09-04T18:31:22.665Z,1757010682.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660793 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:22.695Z,1757010682.695 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:22.696Z,1757010682.696 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:22.696Z,1757010682.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:22.945Z,1757010682.945 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:22.945Z,1757010682.945 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:22.946Z,1757010682.946 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:23.024Z,1757010683.024 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS4,  0
2025-09-04T18:31:23.041Z,1757010683.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:23.044Z,1757010683.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 135.552872 m,
      bearing: 161.987471 deg,
      approach rate: -0.766176 m/s,
      LOS rate: 0.006437 deg/s,
      cmd heading: 152.452227 deg,
      new cmd heading: 152.457486 deg.

2025-09-04T18:31:23.045Z,1757010683.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660885 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:23.197Z,1757010683.197 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:23.197Z,1757010683.197 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:23.197Z,1757010683.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:23.410Z,1757010683.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:23.413Z,1757010683.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 135.278381 m,
      bearing: 161.989750 deg,
      approach rate: -0.743723 m/s,
      LOS rate: 0.006187 deg/s,
      cmd heading: 152.457486 deg,
      new cmd heading: 152.462053 deg.

2025-09-04T18:31:23.414Z,1757010683.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660965 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:23.449Z,1757010683.449 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:23.450Z,1757010683.450 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:23.450Z,1757010683.450 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:23.705Z,1757010683.705 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:23.706Z,1757010683.706 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:23.706Z,1757010683.706 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:23.873Z,1757010683.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:23.876Z,1757010683.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 134.941956 m,
      bearing: 161.994203 deg,
      approach rate: -0.727110 m/s,
      LOS rate: 0.009649 deg/s,
      cmd heading: 152.462048 deg,
      new cmd heading: 152.470977 deg.

2025-09-04T18:31:23.877Z,1757010683.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661121 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:23.954Z,1757010683.954 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:23.954Z,1757010683.954 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:23.954Z,1757010683.954 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:24.209Z,1757010684.209 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:24.209Z,1757010684.209 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:24.209Z,1757010684.209 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:24.270Z,1757010684.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:24.277Z,1757010684.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 134.658112 m,
      bearing: 161.997920 deg,
      approach rate: -0.715829 m/s,
      LOS rate: 0.009393 deg/s,
      cmd heading: 152.470982 deg,
      new cmd heading: 152.478432 deg.

2025-09-04T18:31:24.278Z,1757010684.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661251 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:24.457Z,1757010684.457 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:24.457Z,1757010684.457 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:24.457Z,1757010684.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:24.629Z,1757010684.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:24.631Z,1757010684.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:24.634Z,1757010684.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 134.389877 m,
      bearing: 162.001420 deg,
      approach rate: -0.742517 m/s,
      LOS rate: 0.009707 deg/s,
      cmd heading: 152.478427 deg,
      new cmd heading: 152.485440 deg.

2025-09-04T18:31:24.635Z,1757010684.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661373 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:24.717Z,1757010684.717 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:24.718Z,1757010684.718 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:24.718Z,1757010684.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:24.965Z,1757010684.965 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:24.965Z,1757010684.965 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:24.965Z,1757010684.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:25.087Z,1757010685.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:25.094Z,1757010685.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 134.055573 m,
      bearing: 162.004608 deg,
      approach rate: -0.732376 m/s,
      LOS rate: 0.007002 deg/s,
      cmd heading: 152.485435 deg,
      new cmd heading: 152.491827 deg.

2025-09-04T18:31:25.095Z,1757010685.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661484 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:25.217Z,1757010685.217 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:25.218Z,1757010685.218 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:25.218Z,1757010685.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:25.451Z,1757010685.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:25.454Z,1757010685.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 133.781357 m,
      bearing: 162.007168 deg,
      approach rate: -0.754061 m/s,
      LOS rate: 0.007055 deg/s,
      cmd heading: 152.491828 deg,
      new cmd heading: 152.496959 deg.

2025-09-04T18:31:25.455Z,1757010685.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661574 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:25.470Z,1757010685.470 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:25.470Z,1757010685.470 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:25.470Z,1757010685.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:25.725Z,1757010685.725 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:25.726Z,1757010685.726 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:25.726Z,1757010685.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:25.884Z,1757010685.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:25.890Z,1757010685.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 133.471329 m,
      bearing: 162.011083 deg,
      approach rate: -0.716813 m/s,
      LOS rate: 0.009072 deg/s,
      cmd heading: 152.496964 deg,
      new cmd heading: 152.504811 deg.

2025-09-04T18:31:25.891Z,1757010685.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661711 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:25.977Z,1757010685.977 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:25.977Z,1757010685.977 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:25.977Z,1757010685.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:26.229Z,1757010686.229 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:26.229Z,1757010686.229 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:26.230Z,1757010686.230 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:26.325Z,1757010686.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:26.328Z,1757010686.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 133.154404 m,
      bearing: 162.015008 deg,
      approach rate: -0.725862 m/s,
      LOS rate: 0.009012 deg/s,
      cmd heading: 152.504805 deg,
      new cmd heading: 152.512675 deg.

2025-09-04T18:31:26.333Z,1757010686.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661848 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:26.483Z,1757010686.483 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:26.483Z,1757010686.483 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:26.484Z,1757010686.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:26.730Z,1757010686.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:26.733Z,1757010686.733 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:26.733Z,1757010686.733 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:26.734Z,1757010686.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:26.732Z,1757010686.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:26.753Z,1757010686.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 132.846344 m,
      bearing: 162.018814 deg,
      approach rate: -0.748553 m/s,
      LOS rate: 0.009268 deg/s,
      cmd heading: 152.512674 deg,
      new cmd heading: 152.520302 deg.

2025-09-04T18:31:26.762Z,1757010686.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661981 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:26.985Z,1757010686.985 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:26.985Z,1757010686.985 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:26.985Z,1757010686.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:27.028Z,1757010687.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:31:27.211Z,1757010687.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:27.224Z,1757010687.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 132.487549 m,
      bearing: 162.020275 deg,
      approach rate: -0.749349 m/s,
      LOS rate: 0.003060 deg/s,
      cmd heading: 152.520296 deg,
      new cmd heading: 152.523227 deg.

2025-09-04T18:31:27.226Z,1757010687.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662033 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:27.237Z,1757010687.237 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:31:27.237Z,1757010687.237 [DAT](INFO): response not received
2025-09-04T18:31:27.238Z,1757010687.238 [DAT](INFO): DAT read: user:2828>

2025-09-04T18:31:27.239Z,1757010687.239 [DAT](INFO): DAT read: Tx time:18:31:26.4299

2025-09-04T18:31:27.239Z,1757010687.239 [DAT](INFO): Ping request sent.
2025-09-04T18:31:27.239Z,1757010687.239 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:27.239Z,1757010687.239 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:27.240Z,1757010687.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-09-04T18:31:27.493Z,1757010687.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253842
2025-09-04T18:31:27.579Z,1757010687.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:27.582Z,1757010687.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 132.190216 m,
      bearing: 162.021435 deg,
      approach rate: -0.806617 m/s,
      LOS rate: 0.003153 deg/s,
      cmd heading: 152.523233 deg,
      new cmd heading: 152.525558 deg.

2025-09-04T18:31:27.583Z,1757010687.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662073 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:27.741Z,1757010687.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502077
2025-09-04T18:31:27.993Z,1757010687.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754070
2025-09-04T18:31:28.019Z,1757010688.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:28.026Z,1757010688.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 131.863770 m,
      bearing: 162.021424 deg,
      approach rate: -0.742734 m/s,
      LOS rate: -0.000024 deg/s,
      cmd heading: 152.525555 deg,
      new cmd heading: 152.525534 deg.

2025-09-04T18:31:28.027Z,1757010688.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662073 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:28.032Z,1757010688.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:31:28.248Z,1757010688.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009179
2025-09-04T18:31:28.384Z,1757010688.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:28.386Z,1757010688.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 131.581451 m,
      bearing: 162.021419 deg,
      approach rate: -0.773661 m/s,
      LOS rate: -0.000014 deg/s,
      cmd heading: 152.525528 deg,
      new cmd heading: 152.525518 deg.

2025-09-04T18:31:28.387Z,1757010688.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662072 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:28.498Z,1757010688.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258645
2025-09-04T18:31:28.752Z,1757010688.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512521
2025-09-04T18:31:28.885Z,1757010688.885 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-09-04T18:31:28.885Z,1757010688.885 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-09-04T18:31:28.885Z,1757010688.885 [RDI_Pathfinder](ERROR): Communications Fault
2025-09-04T18:31:28.932Z,1757010688.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:28.934Z,1757010688.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:28.937Z,1757010688.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 131.165161 m,
      bearing: 162.021417 deg,
      approach rate: -0.755614 m/s,
      LOS rate: -0.000004 deg/s,
      cmd heading: 152.525514 deg,
      new cmd heading: 152.525510 deg.

2025-09-04T18:31:28.938Z,1757010688.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662072 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:29.001Z,1757010689.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762224
2025-09-04T18:31:29.214Z,1757010689.214 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-09-04T18:31:29.253Z,1757010689.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014191
2025-09-04T18:31:29.262Z,1757010689.262 [RDI_Pathfinder](INFO): Powering down
2025-09-04T18:31:29.303Z,1757010689.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:29.306Z,1757010689.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 130.904694 m,
      bearing: 162.021416 deg,
      approach rate: -0.707364 m/s,
      LOS rate: -0.000004 deg/s,
      cmd heading: 152.525514 deg,
      new cmd heading: 152.525512 deg.

2025-09-04T18:31:29.307Z,1757010689.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662072 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:29.506Z,1757010689.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266417
2025-09-04T18:31:29.674Z,1757010689.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:29.676Z,1757010689.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 130.606583 m,
      bearing: 162.021414 deg,
      approach rate: -0.804026 m/s,
      LOS rate: -0.000004 deg/s,
      cmd heading: 152.525514 deg,
      new cmd heading: 152.525511 deg.

2025-09-04T18:31:29.677Z,1757010689.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662072 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:29.758Z,1757010689.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518623
2025-09-04T18:31:30.009Z,1757010690.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770024
2025-09-04T18:31:30.088Z,1757010690.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:30.091Z,1757010690.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 130.303970 m,
      bearing: 162.021551 deg,
      approach rate: -0.758925 m/s,
      LOS rate: 0.000345 deg/s,
      cmd heading: 152.525514 deg,
      new cmd heading: 152.525790 deg.

2025-09-04T18:31:30.092Z,1757010690.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662077 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:30.261Z,1757010690.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022323
2025-09-04T18:31:30.391Z,1757010690.391 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-09-04T18:31:30.392Z,1757010690.392 [RDI_Pathfinder] No Fault, FailCount= 1
2025-09-04T18:31:30.513Z,1757010690.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274053
2025-09-04T18:31:30.555Z,1757010690.555 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-09-04T18:31:30.570Z,1757010690.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:30.573Z,1757010690.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 129.927032 m,
      bearing: 162.021805 deg,
      approach rate: -0.756539 m/s,
      LOS rate: 0.000510 deg/s,
      cmd heading: 152.525788 deg,
      new cmd heading: 152.526296 deg.

2025-09-04T18:31:30.574Z,1757010690.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662086 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:30.766Z,1757010690.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526623
2025-09-04T18:31:30.890Z,1757010690.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:30.892Z,1757010690.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 129.690353 m,
      bearing: 162.021986 deg,
      approach rate: -0.741869 m/s,
      LOS rate: 0.000568 deg/s,
      cmd heading: 152.526293 deg,
      new cmd heading: 152.526656 deg.

2025-09-04T18:31:30.893Z,1757010690.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662092 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:31.017Z,1757010691.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778193
2025-09-04T18:31:31.269Z,1757010691.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030005
2025-09-04T18:31:31.302Z,1757010691.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:31.304Z,1757010691.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:31.307Z,1757010691.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 129.372360 m,
      bearing: 162.022259 deg,
      approach rate: -0.767027 m/s,
      LOS rate: 0.000661 deg/s,
      cmd heading: 152.526662 deg,
      new cmd heading: 152.527210 deg.

2025-09-04T18:31:31.308Z,1757010691.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662102 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:31.521Z,1757010691.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282138
2025-09-04T18:31:31.742Z,1757010691.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:31.749Z,1757010691.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 129.052216 m,
      bearing: 162.022544 deg,
      approach rate: -0.731537 m/s,
      LOS rate: 0.000651 deg/s,
      cmd heading: 152.527208 deg,
      new cmd heading: 152.527778 deg.

2025-09-04T18:31:31.750Z,1757010691.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662112 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:31.773Z,1757010691.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534245
2025-09-04T18:31:32.025Z,1757010692.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786034
2025-09-04T18:31:32.096Z,1757010692.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:32.099Z,1757010692.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 128.777313 m,
      bearing: 162.022823 deg,
      approach rate: -0.776209 m/s,
      LOS rate: 0.000791 deg/s,
      cmd heading: 152.527782 deg,
      new cmd heading: 152.528342 deg.

2025-09-04T18:31:32.100Z,1757010692.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662122 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:32.277Z,1757010692.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038041
2025-09-04T18:31:32.512Z,1757010692.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:32.515Z,1757010692.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 128.464859 m,
      bearing: 162.023102 deg,
      approach rate: -0.751012 m/s,
      LOS rate: 0.000671 deg/s,
      cmd heading: 152.528342 deg,
      new cmd heading: 152.528900 deg.

2025-09-04T18:31:32.516Z,1757010692.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662132 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:32.537Z,1757010692.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298303
2025-09-04T18:31:32.789Z,1757010692.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550043
2025-09-04T18:31:32.893Z,1757010692.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:32.896Z,1757010692.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 128.173920 m,
      bearing: 162.023343 deg,
      approach rate: -0.762649 m/s,
      LOS rate: 0.000634 deg/s,
      cmd heading: 152.528902 deg,
      new cmd heading: 152.529386 deg.

2025-09-04T18:31:32.897Z,1757010692.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662140 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:33.041Z,1757010693.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802450
2025-09-04T18:31:33.293Z,1757010693.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054109
2025-09-04T18:31:33.303Z,1757010693.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:33.306Z,1757010693.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 127.859840 m,
      bearing: 162.023639 deg,
      approach rate: -0.766195 m/s,
      LOS rate: 0.000725 deg/s,
      cmd heading: 152.529380 deg,
      new cmd heading: 152.529975 deg.

2025-09-04T18:31:33.307Z,1757010693.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662150 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:33.545Z,1757010693.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306404
2025-09-04T18:31:33.720Z,1757010693.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:33.722Z,1757010693.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:33.725Z,1757010693.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 127.544556 m,
      bearing: 162.023938 deg,
      approach rate: -0.752417 m/s,
      LOS rate: 0.000716 deg/s,
      cmd heading: 152.529981 deg,
      new cmd heading: 152.530581 deg.

2025-09-04T18:31:33.726Z,1757010693.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662161 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:33.797Z,1757010693.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558218
2025-09-04T18:31:34.049Z,1757010694.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810016
2025-09-04T18:31:34.113Z,1757010694.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:34.116Z,1757010694.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 127.247414 m,
      bearing: 162.024232 deg,
      approach rate: -0.760763 m/s,
      LOS rate: 0.000753 deg/s,
      cmd heading: 152.530582 deg,
      new cmd heading: 152.531171 deg.

2025-09-04T18:31:34.117Z,1757010694.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662171 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:34.301Z,1757010694.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062157
2025-09-04T18:31:34.525Z,1757010694.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:34.527Z,1757010694.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 126.936234 m,
      bearing: 162.024497 deg,
      approach rate: -0.756079 m/s,
      LOS rate: 0.000646 deg/s,
      cmd heading: 152.531170 deg,
      new cmd heading: 152.531702 deg.

2025-09-04T18:31:34.528Z,1757010694.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662180 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:34.553Z,1757010694.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314060
2025-09-04T18:31:34.805Z,1757010694.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566049
2025-09-04T18:31:34.928Z,1757010694.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:34.930Z,1757010694.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 126.640533 m,
      bearing: 162.024718 deg,
      approach rate: -0.733656 m/s,
      LOS rate: 0.000550 deg/s,
      cmd heading: 152.531703 deg,
      new cmd heading: 152.532146 deg.

2025-09-04T18:31:34.931Z,1757010694.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662188 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:35.057Z,1757010695.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818102
2025-09-04T18:31:35.309Z,1757010695.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070076
2025-09-04T18:31:35.321Z,1757010695.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:35.324Z,1757010695.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 126.334328 m,
      bearing: 162.024911 deg,
      approach rate: -0.778363 m/s,
      LOS rate: 0.000490 deg/s,
      cmd heading: 152.532140 deg,
      new cmd heading: 152.532525 deg.

2025-09-04T18:31:35.325Z,1757010695.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662195 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:35.561Z,1757010695.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322482
2025-09-04T18:31:35.738Z,1757010695.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:35.740Z,1757010695.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:35.743Z,1757010695.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 126.017204 m,
      bearing: 162.025033 deg,
      approach rate: -0.757066 m/s,
      LOS rate: 0.000293 deg/s,
      cmd heading: 152.532522 deg,
      new cmd heading: 152.532768 deg.

2025-09-04T18:31:35.744Z,1757010695.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662199 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:35.813Z,1757010695.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574217
2025-09-04T18:31:36.065Z,1757010696.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825925
2025-09-04T18:31:36.132Z,1757010696.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:36.135Z,1757010696.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 125.720276 m,
      bearing: 162.025087 deg,
      approach rate: -0.757156 m/s,
      LOS rate: 0.000138 deg/s,
      cmd heading: 152.532768 deg,
      new cmd heading: 152.532877 deg.

2025-09-04T18:31:36.136Z,1757010696.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662201 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:36.320Z,1757010696.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.081255
2025-09-04T18:31:36.534Z,1757010696.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:36.553Z,1757010696.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 125.419037 m,
      bearing: 162.025127 deg,
      approach rate: -0.749153 m/s,
      LOS rate: 0.000099 deg/s,
      cmd heading: 152.532877 deg,
      new cmd heading: 152.532957 deg.

2025-09-04T18:31:36.554Z,1757010696.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662202 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:36.569Z,1757010696.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330165
2025-09-04T18:31:36.822Z,1757010696.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582809
2025-09-04T18:31:37.002Z,1757010697.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:37.005Z,1757010697.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 125.062828 m,
      bearing: 162.025160 deg,
      approach rate: -0.761721 m/s,
      LOS rate: 0.000071 deg/s,
      cmd heading: 152.532959 deg,
      new cmd heading: 152.533026 deg.

2025-09-04T18:31:37.006Z,1757010697.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662204 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:37.075Z,1757010697.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835616
2025-09-04T18:31:37.325Z,1757010697.325 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:37.325Z,1757010697.325 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:37.325Z,1757010697.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:37.426Z,1757010697.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:37.433Z,1757010697.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 124.755028 m,
      bearing: 162.025122 deg,
      approach rate: -0.726192 m/s,
      LOS rate: -0.000090 deg/s,
      cmd heading: 152.533028 deg,
      new cmd heading: 152.532951 deg.

2025-09-04T18:31:37.434Z,1757010697.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662202 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:37.577Z,1757010697.577 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:37.577Z,1757010697.577 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:37.577Z,1757010697.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:37.829Z,1757010697.829 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:37.829Z,1757010697.829 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:37.829Z,1757010697.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:37.897Z,1757010697.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:37.899Z,1757010697.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:37.906Z,1757010697.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 124.393127 m,
      bearing: 162.025077 deg,
      approach rate: -0.764440 m/s,
      LOS rate: -0.000095 deg/s,
      cmd heading: 152.532946 deg,
      new cmd heading: 152.532856 deg.

2025-09-04T18:31:37.907Z,1757010697.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662200 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:38.081Z,1757010698.081 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:38.081Z,1757010698.081 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:38.081Z,1757010698.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:38.288Z,1757010698.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:38.291Z,1757010698.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 124.089661 m,
      bearing: 162.024984 deg,
      approach rate: -0.780811 m/s,
      LOS rate: -0.000241 deg/s,
      cmd heading: 152.532850 deg,
      new cmd heading: 152.532663 deg.

2025-09-04T18:31:38.291Z,1757010698.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662197 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:38.333Z,1757010698.333 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:38.334Z,1757010698.334 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:38.334Z,1757010698.334 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:38.585Z,1757010698.585 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:38.585Z,1757010698.585 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:38.585Z,1757010698.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:38.721Z,1757010698.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:38.724Z,1757010698.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 123.761650 m,
      bearing: 162.024785 deg,
      approach rate: -0.756369 m/s,
      LOS rate: -0.000460 deg/s,
      cmd heading: 152.532659 deg,
      new cmd heading: 152.532260 deg.

2025-09-04T18:31:38.725Z,1757010698.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662190 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:38.837Z,1757010698.837 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:38.838Z,1757010698.838 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:38.838Z,1757010698.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:39.089Z,1757010699.089 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:39.089Z,1757010699.089 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:39.089Z,1757010699.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:39.106Z,1757010699.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:39.109Z,1757010699.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 123.470673 m,
      bearing: 162.024608 deg,
      approach rate: -0.756564 m/s,
      LOS rate: -0.000460 deg/s,
      cmd heading: 152.532263 deg,
      new cmd heading: 152.531909 deg.

2025-09-04T18:31:39.110Z,1757010699.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662184 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:39.342Z,1757010699.342 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:39.343Z,1757010699.343 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:39.343Z,1757010699.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:39.514Z,1757010699.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:39.517Z,1757010699.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 123.162003 m,
      bearing: 162.024349 deg,
      approach rate: -0.755816 m/s,
      LOS rate: -0.000637 deg/s,
      cmd heading: 152.531907 deg,
      new cmd heading: 152.531388 deg.

2025-09-04T18:31:39.518Z,1757010699.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662175 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:39.593Z,1757010699.593 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:31:39.594Z,1757010699.594 [DAT](INFO): response not received
2025-09-04T18:31:39.594Z,1757010699.594 [DAT](INFO): DAT read: user:2829>

2025-09-04T18:31:39.595Z,1757010699.595 [DAT](INFO): DAT read: Tx time:18:31:38.8798

2025-09-04T18:31:39.595Z,1757010699.595 [DAT](INFO): Ping request sent.
2025-09-04T18:31:39.595Z,1757010699.595 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:39.595Z,1757010699.595 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:39.596Z,1757010699.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931
2025-09-04T18:31:39.845Z,1757010699.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249932
2025-09-04T18:31:39.908Z,1757010699.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:39.910Z,1757010699.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:39.913Z,1757010699.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 122.863289 m,
      bearing: 162.024003 deg,
      approach rate: -0.755161 m/s,
      LOS rate: -0.000875 deg/s,
      cmd heading: 152.531388 deg,
      new cmd heading: 152.530696 deg.

2025-09-04T18:31:39.914Z,1757010699.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662163 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:40.098Z,1757010700.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915
2025-09-04T18:31:40.318Z,1757010700.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:40.321Z,1757010700.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 122.567230 m,
      bearing: 162.023665 deg,
      approach rate: -0.758866 m/s,
      LOS rate: -0.000870 deg/s,
      cmd heading: 152.530692 deg,
      new cmd heading: 152.530013 deg.

2025-09-04T18:31:40.322Z,1757010700.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662151 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:40.349Z,1757010700.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753786
2025-09-04T18:31:40.601Z,1757010700.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005891
2025-09-04T18:31:40.722Z,1757010700.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:40.725Z,1757010700.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 122.248734 m,
      bearing: 162.023158 deg,
      approach rate: -0.755417 m/s,
      LOS rate: -0.001206 deg/s,
      cmd heading: 152.530009 deg,
      new cmd heading: 152.528992 deg.

2025-09-04T18:31:40.725Z,1757010700.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662133 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:40.853Z,1757010700.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257808
2025-09-04T18:31:41.105Z,1757010701.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509946
2025-09-04T18:31:41.140Z,1757010701.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:41.143Z,1757010701.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 121.950569 m,
      bearing: 162.022619 deg,
      approach rate: -0.712921 m/s,
      LOS rate: -0.001291 deg/s,
      cmd heading: 152.528998 deg,
      new cmd heading: 152.527918 deg.

2025-09-04T18:31:41.144Z,1757010701.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662114 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:41.358Z,1757010701.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762404
2025-09-04T18:31:41.523Z,1757010701.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:41.526Z,1757010701.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 121.641937 m,
      bearing: 162.021963 deg,
      approach rate: -0.805806 m/s,
      LOS rate: -0.001718 deg/s,
      cmd heading: 152.527919 deg,
      new cmd heading: 152.526602 deg.

2025-09-04T18:31:41.527Z,1757010701.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662091 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:41.610Z,1757010701.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014728
2025-09-04T18:31:41.861Z,1757010701.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265831
2025-09-04T18:31:41.937Z,1757010701.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:41.939Z,1757010701.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:41.946Z,1757010701.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 121.339935 m,
      bearing: 162.021205 deg,
      approach rate: -0.725044 m/s,
      LOS rate: -0.001824 deg/s,
      cmd heading: 152.526607 deg,
      new cmd heading: 152.525088 deg.

2025-09-04T18:31:41.947Z,1757010701.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662065 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:42.113Z,1757010702.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517989
2025-09-04T18:31:42.321Z,1757010702.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:42.324Z,1757010702.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 121.037727 m,
      bearing: 162.020375 deg,
      approach rate: -0.791761 m/s,
      LOS rate: -0.002179 deg/s,
      cmd heading: 152.525091 deg,
      new cmd heading: 152.523428 deg.

2025-09-04T18:31:42.325Z,1757010702.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662036 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:42.365Z,1757010702.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770053
2025-09-04T18:31:42.617Z,1757010702.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022065
2025-09-04T18:31:42.737Z,1757010702.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:42.740Z,1757010702.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 120.723747 m,
      bearing: 162.019467 deg,
      approach rate: -0.754421 m/s,
      LOS rate: -0.002188 deg/s,
      cmd heading: 152.523424 deg,
      new cmd heading: 152.521603 deg.

2025-09-04T18:31:42.741Z,1757010702.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662004 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:42.870Z,1757010702.870 [DAT](INFO): DAT read: Rx Time:18:31:41.5050

2025-09-04T18:31:42.870Z,1757010702.870 [DAT](INFO): Rx dataTimestamp_ set to:1757010702.869693
2025-09-04T18:31:42.870Z,1757010702.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275319
2025-09-04T18:31:43.121Z,1757010703.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526015
2025-09-04T18:31:43.181Z,1757010703.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.43 m.
2025-09-04T18:31:43.190Z,1757010703.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.434601 m,
      nav range: 120.403595 m,
      bearing: 162.018542 deg,
      approach rate: -0.729351 m/s,
      LOS rate: -0.002113 deg/s,
      cmd heading: 152.521608 deg,
      new cmd heading: 152.519752 deg.

2025-09-04T18:31:43.208Z,1757010703.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661972 target range: 178.434601 and range: 179.20 m.
2025-09-04T18:31:43.379Z,1757010703.379 [DAT](INFO): DAT read: 18:31:41.5050 LVL= 32752, 32753, 32754, 27331, AGC= 70, IDX= 179, 0.01, 0.054,-0.969, 0.052,-1.172, PHS= 1.328, 0.248, 1.180, RAW= 142.7, -43.9, CAL= 144.6, -42.2, ROT=   5.4,  42.2

2025-09-04T18:31:43.380Z,1757010703.380 [DAT](INFO): got valid direction response:
 18:31:41.5050 LVL= 32752, 32753, 32754, 27331, AGC= 70, IDX= 179, 0.01, 0.054,-0.969, 0.052,-1.172, PHS= 1.328, 0.248, 1.180, RAW= 142.7, -43.9, CAL= 144.6, -42.2, ROT=   5.4,  42.2

2025-09-04T18:31:43.381Z,1757010703.381 [DAT](INFO): DAT read: Bearing 270.2,   3.2 (Local)

2025-09-04T18:31:43.381Z,1757010703.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.2,   3.2 (Local)

2025-09-04T18:31:43.383Z,1757010703.383 [DAT](INFO): DAT read: Range 11 to 50 : 165.7 m  (Round-trip  221.0 ms) speed -0.2 m/s

2025-09-04T18:31:43.383Z,1757010703.383 [DAT](INFO): DAT read: user:2830>

2025-09-04T18:31:43.384Z,1757010703.384 [DAT](INFO): DAT read: Tx time:18:31:42.6298

2025-09-04T18:31:43.385Z,1757010703.385 [DAT](INFO): Ping request sent.
2025-09-04T18:31:43.385Z,1757010703.385 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:43.385Z,1757010703.385 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:31:43.386Z,1757010703.386 [DAT](INFO): direction in FSK: [0.737517,0.069716,-0.671721]
2025-09-04T18:31:43.386Z,1757010703.386 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:43.386Z,1757010703.386 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:43.390Z,1757010703.390 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:43.390Z,1757010703.390 [DAT](INFO): publishing direction and range info
2025-09-04T18:31:43.634Z,1757010703.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.699997 m,
      deltaT: 28.491631 s,
      deltaX: -13.500000 m,
      approachRate: -0.473823 m/s,
      rangeRepo size: 4

2025-09-04T18:31:43.641Z,1757010703.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.992798 m,
      bearing: 157.007190 deg,
      lat: 36.779112 deg,
      lon: -121.859418 deg,
      deltaT: 28.491631 s,
      deltaX: -13.441803 m,
      approachRate: -0.471781 m/s,
      posRepo size: 4

2025-09-04T18:31:43.642Z,1757010703.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:43.649Z,1757010703.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 120.087448 m,
      bearing: 162.017623 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002113 deg/s,
      cmd heading: 152.519750 deg,
      new cmd heading: 152.517818 deg.

2025-09-04T18:31:43.650Z,1757010703.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661938 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:44.077Z,1757010704.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:44.079Z,1757010704.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:44.090Z,1757010704.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 119.723526 m,
      bearing: 162.019120 deg,
      approach rate: -0.816057 m/s,
      LOS rate: 0.003366 deg/s,
      cmd heading: 152.517824 deg,
      new cmd heading: 152.520826 deg.

2025-09-04T18:31:44.091Z,1757010704.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661991 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:44.129Z,1757010704.129 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:44.129Z,1757010704.129 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:44.129Z,1757010704.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:44.381Z,1757010704.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996645
2025-09-04T18:31:44.447Z,1757010704.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:44.466Z,1757010704.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 119.435410 m,
      bearing: 162.020323 deg,
      approach rate: -0.783916 m/s,
      LOS rate: 0.003281 deg/s,
      cmd heading: 152.520829 deg,
      new cmd heading: 152.523241 deg.

2025-09-04T18:31:44.467Z,1757010704.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662033 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:44.633Z,1757010704.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248193
2025-09-04T18:31:44.885Z,1757010704.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500237
2025-09-04T18:31:44.988Z,1757010704.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:44.991Z,1757010704.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 119.029938 m,
      bearing: 162.022071 deg,
      approach rate: -0.749185 m/s,
      LOS rate: 0.003240 deg/s,
      cmd heading: 152.523247 deg,
      new cmd heading: 152.526754 deg.

2025-09-04T18:31:44.992Z,1757010704.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662094 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:45.137Z,1757010705.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752343
2025-09-04T18:31:45.360Z,1757010705.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:45.366Z,1757010705.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 118.760147 m,
      bearing: 162.022814 deg,
      approach rate: -0.726312 m/s,
      LOS rate: 0.002006 deg/s,
      cmd heading: 152.526758 deg,
      new cmd heading: 152.528248 deg.

2025-09-04T18:31:45.367Z,1757010705.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662120 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:45.389Z,1757010705.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004635
2025-09-04T18:31:45.641Z,1757010705.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256244
2025-09-04T18:31:45.754Z,1757010705.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:45.761Z,1757010705.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 118.479973 m,
      bearing: 162.023610 deg,
      approach rate: -0.711010 m/s,
      LOS rate: 0.002022 deg/s,
      cmd heading: 152.528247 deg,
      new cmd heading: 152.529840 deg.

2025-09-04T18:31:45.761Z,1757010705.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662148 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:45.894Z,1757010705.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508829
2025-09-04T18:31:46.134Z,1757010706.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:46.136Z,1757010706.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:46.139Z,1757010706.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 118.202980 m,
      bearing: 162.022543 deg,
      approach rate: -0.724638 m/s,
      LOS rate: -0.002798 deg/s,
      cmd heading: 152.529845 deg,
      new cmd heading: 152.527706 deg.

2025-09-04T18:31:46.145Z,1757010706.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760189
2025-09-04T18:31:46.160Z,1757010706.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662111 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:46.397Z,1757010706.397 [DAT](INFO): DAT read: Rx Time:18:31:45.1585

2025-09-04T18:31:46.398Z,1757010706.398 [DAT](INFO): Rx dataTimestamp_ set to:1757010706.397452
2025-09-04T18:31:46.398Z,1757010706.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013475
2025-09-04T18:31:46.540Z,1757010706.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:46.543Z,1757010706.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 117.912277 m,
      bearing: 162.021516 deg,
      approach rate: -0.719269 m/s,
      LOS rate: -0.002546 deg/s,
      cmd heading: 152.527700 deg,
      new cmd heading: 152.525642 deg.

2025-09-04T18:31:46.545Z,1757010706.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662075 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:46.649Z,1757010706.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264388
2025-09-04T18:31:46.905Z,1757010706.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520296
2025-09-04T18:31:47.007Z,1757010707.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:47.018Z,1757010707.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 117.638672 m,
      bearing: 162.020611 deg,
      approach rate: -0.596840 m/s,
      LOS rate: -0.001980 deg/s,
      cmd heading: 152.525637 deg,
      new cmd heading: 152.523822 deg.

2025-09-04T18:31:47.019Z,1757010707.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662043 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:47.171Z,1757010707.171 [DAT](INFO): DAT read: 18:31:45.1585 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 457,-0.47,-2.866, 1.442, 3.041, 3.013, PHS= 0.505,-1.527,-0.016, RAW= 135.7,  11.3, CAL= 135.2,  12.4, ROT=  14.8, -12.4

2025-09-04T18:31:47.173Z,1757010707.173 [DAT](INFO): got valid direction response:
 18:31:45.1585 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 457,-0.47,-2.866, 1.442, 3.041, 3.013, PHS= 0.505,-1.527,-0.016, RAW= 135.7,  11.3, CAL= 135.2,  12.4, ROT=  14.8, -12.4

2025-09-04T18:31:47.174Z,1757010707.174 [DAT](INFO): DAT read: $Error in header

2025-09-04T18:31:47.175Z,1757010707.175 [DAT](INFO): Received a bad header
2025-09-04T18:31:47.189Z,1757010707.189 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:31:47.190Z,1757010707.190 [DAT](INFO): direction in FSK: [0.944270,0.249487,0.214735]
2025-09-04T18:31:47.194Z,1757010707.194 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:47.194Z,1757010707.194 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:47.194Z,1757010707.194 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:47.382Z,1757010707.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:47.385Z,1757010707.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 117.308655 m,
      bearing: 162.021203 deg,
      approach rate: -0.859970 m/s,
      LOS rate: 0.001547 deg/s,
      cmd heading: 152.523821 deg,
      new cmd heading: 152.525008 deg.

2025-09-04T18:31:47.387Z,1757010707.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662064 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:47.405Z,1757010707.405 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:47.405Z,1757010707.405 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:47.405Z,1757010707.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:47.658Z,1757010707.658 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:47.658Z,1757010707.658 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:47.658Z,1757010707.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:47.763Z,1757010707.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:47.766Z,1757010707.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 117.035461 m,
      bearing: 162.021703 deg,
      approach rate: -0.717062 m/s,
      LOS rate: 0.001315 deg/s,
      cmd heading: 152.525009 deg,
      new cmd heading: 152.526011 deg.

2025-09-04T18:31:47.767Z,1757010707.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662081 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:47.909Z,1757010707.909 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:47.909Z,1757010707.909 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:47.909Z,1757010707.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:48.162Z,1757010708.162 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:48.162Z,1757010708.162 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:48.163Z,1757010708.163 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:48.240Z,1757010708.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:48.246Z,1757010708.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:48.253Z,1757010708.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 116.694679 m,
      bearing: 162.020315 deg,
      approach rate: -0.705908 m/s,
      LOS rate: -0.002882 deg/s,
      cmd heading: 152.526006 deg,
      new cmd heading: 152.523224 deg.

2025-09-04T18:31:48.254Z,1757010708.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662032 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:48.413Z,1757010708.413 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:48.413Z,1757010708.413 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:48.413Z,1757010708.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:48.594Z,1757010708.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:48.597Z,1757010708.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 116.438477 m,
      bearing: 162.019286 deg,
      approach rate: -0.735496 m/s,
      LOS rate: -0.002962 deg/s,
      cmd heading: 152.523219 deg,
      new cmd heading: 152.521156 deg.

2025-09-04T18:31:48.598Z,1757010708.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661996 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:48.666Z,1757010708.666 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:48.666Z,1757010708.666 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:48.667Z,1757010708.667 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:48.917Z,1757010708.917 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:48.917Z,1757010708.917 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:48.917Z,1757010708.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:49.101Z,1757010709.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:49.104Z,1757010709.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 116.090073 m,
      bearing: 162.017355 deg,
      approach rate: -0.687477 m/s,
      LOS rate: -0.003821 deg/s,
      cmd heading: 152.521157 deg,
      new cmd heading: 152.517284 deg.

2025-09-04T18:31:49.113Z,1757010709.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661929 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:49.170Z,1757010709.170 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:49.170Z,1757010709.170 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:49.171Z,1757010709.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:49.421Z,1757010709.421 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:49.421Z,1757010709.421 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:49.421Z,1757010709.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:49.486Z,1757010709.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:49.495Z,1757010709.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 115.829460 m,
      bearing: 162.015981 deg,
      approach rate: -0.677149 m/s,
      LOS rate: -0.003579 deg/s,
      cmd heading: 152.517277 deg,
      new cmd heading: 152.514522 deg.

2025-09-04T18:31:49.501Z,1757010709.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661880 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:49.674Z,1757010709.674 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:49.674Z,1757010709.674 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:49.674Z,1757010709.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:49.917Z,1757010709.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:49.919Z,1757010709.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 115.491753 m,
      bearing: 162.014312 deg,
      approach rate: -0.784013 m/s,
      LOS rate: -0.003885 deg/s,
      cmd heading: 152.514518 deg,
      new cmd heading: 152.511171 deg.

2025-09-04T18:31:49.920Z,1757010709.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661822 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:49.925Z,1757010709.925 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:49.925Z,1757010709.925 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:49.925Z,1757010709.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:50.179Z,1757010710.179 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:50.179Z,1757010710.179 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:50.179Z,1757010710.179 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:50.401Z,1757010710.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:50.403Z,1757010710.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:50.406Z,1757010710.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 115.145905 m,
      bearing: 162.010373 deg,
      approach rate: -0.710467 m/s,
      LOS rate: -0.008117 deg/s,
      cmd heading: 152.511171 deg,
      new cmd heading: 152.503268 deg.

2025-09-04T18:31:50.407Z,1757010710.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661684 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:50.429Z,1757010710.429 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:50.429Z,1757010710.429 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:50.429Z,1757010710.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:50.685Z,1757010710.685 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:50.685Z,1757010710.685 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:50.685Z,1757010710.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:50.787Z,1757010710.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:50.790Z,1757010710.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 114.872917 m,
      bearing: 162.007396 deg,
      approach rate: -0.712114 m/s,
      LOS rate: -0.007783 deg/s,
      cmd heading: 152.503262 deg,
      new cmd heading: 152.497295 deg.

2025-09-04T18:31:50.791Z,1757010710.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661580 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:50.933Z,1757010710.933 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:50.933Z,1757010710.933 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:50.933Z,1757010710.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:51.185Z,1757010711.185 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:51.185Z,1757010711.185 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:51.185Z,1757010711.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:51.356Z,1757010711.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:51.358Z,1757010711.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 114.454948 m,
      bearing: 162.002789 deg,
      approach rate: -0.734818 m/s,
      LOS rate: -0.008130 deg/s,
      cmd heading: 152.497292 deg,
      new cmd heading: 152.488044 deg.

2025-09-04T18:31:51.359Z,1757010711.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661418 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:51.438Z,1757010711.438 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:51.438Z,1757010711.438 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:51.438Z,1757010711.438 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:51.689Z,1757010711.689 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:51.689Z,1757010711.689 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:51.689Z,1757010711.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:51.773Z,1757010711.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:51.781Z,1757010711.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 114.154251 m,
      bearing: 161.999510 deg,
      approach rate: -0.719847 m/s,
      LOS rate: -0.007870 deg/s,
      cmd heading: 152.488044 deg,
      new cmd heading: 152.481469 deg.

2025-09-04T18:31:51.782Z,1757010711.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661304 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:51.941Z,1757010711.941 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:51.941Z,1757010711.941 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:51.941Z,1757010711.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:52.193Z,1757010712.193 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:52.193Z,1757010712.193 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:52.193Z,1757010712.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:52.213Z,1757010712.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:52.223Z,1757010712.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 113.847160 m,
      bearing: 161.993506 deg,
      approach rate: -0.698305 m/s,
      LOS rate: -0.013690 deg/s,
      cmd heading: 152.481473 deg,
      new cmd heading: 152.469432 deg.

2025-09-04T18:31:52.224Z,1757010712.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661094 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:52.446Z,1757010712.446 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:52.446Z,1757010712.446 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:52.446Z,1757010712.446 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:52.561Z,1757010712.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:52.563Z,1757010712.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:52.582Z,1757010712.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 113.583176 m,
      bearing: 161.988335 deg,
      approach rate: -0.755057 m/s,
      LOS rate: -0.014823 deg/s,
      cmd heading: 152.469439 deg,
      new cmd heading: 152.459074 deg.

2025-09-04T18:31:52.582Z,1757010712.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660913 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:52.698Z,1757010712.698 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:52.698Z,1757010712.698 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:52.698Z,1757010712.698 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:52.949Z,1757010712.949 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:52.949Z,1757010712.949 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:52.949Z,1757010712.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:52.975Z,1757010712.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:52.978Z,1757010712.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 113.288658 m,
      bearing: 161.982602 deg,
      approach rate: -0.715701 m/s,
      LOS rate: -0.013970 deg/s,
      cmd heading: 152.459070 deg,
      new cmd heading: 152.447573 deg.

2025-09-04T18:31:52.979Z,1757010712.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660712 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:53.201Z,1757010713.201 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:31:53.201Z,1757010713.201 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:31:53.201Z,1757010713.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:31:53.422Z,1757010713.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:53.425Z,1757010713.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 112.956444 m,
      bearing: 161.979808 deg,
      approach rate: -0.741856 m/s,
      LOS rate: -0.006256 deg/s,
      cmd heading: 152.447568 deg,
      new cmd heading: 152.441965 deg.

2025-09-04T18:31:53.426Z,1757010713.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660614 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:53.453Z,1757010713.453 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:53.453Z,1757010713.453 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:53.453Z,1757010713.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:53.705Z,1757010713.705 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:53.705Z,1757010713.705 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:53.705Z,1757010713.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:53.801Z,1757010713.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:53.804Z,1757010713.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 112.676285 m,
      bearing: 161.977462 deg,
      approach rate: -0.739397 m/s,
      LOS rate: -0.006206 deg/s,
      cmd heading: 152.441968 deg,
      new cmd heading: 152.437264 deg.

2025-09-04T18:31:53.805Z,1757010713.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660532 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:53.957Z,1757010713.957 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:53.957Z,1757010713.957 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:53.957Z,1757010713.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:54.209Z,1757010714.209 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:54.209Z,1757010714.209 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:54.209Z,1757010714.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:54.236Z,1757010714.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:54.238Z,1757010714.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 112.352760 m,
      bearing: 161.977234 deg,
      approach rate: -0.744207 m/s,
      LOS rate: -0.000526 deg/s,
      cmd heading: 152.437268 deg,
      new cmd heading: 152.436811 deg.

2025-09-04T18:31:54.239Z,1757010714.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660524 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:54.461Z,1757010714.461 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:54.461Z,1757010714.461 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:54.461Z,1757010714.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:54.606Z,1757010714.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:54.609Z,1757010714.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:54.611Z,1757010714.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 112.076485 m,
      bearing: 161.977060 deg,
      approach rate: -0.740969 m/s,
      LOS rate: -0.000470 deg/s,
      cmd heading: 152.436804 deg,
      new cmd heading: 152.436454 deg.

2025-09-04T18:31:54.613Z,1757010714.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660518 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:54.713Z,1757010714.713 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:54.713Z,1757010714.713 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:54.713Z,1757010714.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:54.965Z,1757010714.965 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:54.965Z,1757010714.965 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:54.965Z,1757010714.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:55.029Z,1757010715.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:55.037Z,1757010715.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 111.780014 m,
      bearing: 161.976958 deg,
      approach rate: -0.704797 m/s,
      LOS rate: -0.000242 deg/s,
      cmd heading: 152.436449 deg,
      new cmd heading: 152.436245 deg.

2025-09-04T18:31:55.044Z,1757010715.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660514 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:55.217Z,1757010715.217 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:55.217Z,1757010715.217 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:55.217Z,1757010715.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:55.454Z,1757010715.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:55.457Z,1757010715.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 111.456047 m,
      bearing: 161.975921 deg,
      approach rate: -0.761782 m/s,
      LOS rate: -0.002445 deg/s,
      cmd heading: 152.436244 deg,
      new cmd heading: 152.434164 deg.

2025-09-04T18:31:55.458Z,1757010715.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660478 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:55.470Z,1757010715.470 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:55.470Z,1757010715.470 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:55.470Z,1757010715.470 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:55.721Z,1757010715.721 [DAT](INFO): Reached modem response timeout
2025-09-04T18:31:55.721Z,1757010715.721 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:31:55.721Z,1757010715.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:31:55.832Z,1757010715.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:55.835Z,1757010715.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 111.178139 m,
      bearing: 161.974998 deg,
      approach rate: -0.736749 m/s,
      LOS rate: -0.002454 deg/s,
      cmd heading: 152.434167 deg,
      new cmd heading: 152.432316 deg.

2025-09-04T18:31:55.836Z,1757010715.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660446 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:55.974Z,1757010715.974 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:31:55.974Z,1757010715.974 [DAT](INFO): response not received
2025-09-04T18:31:55.975Z,1757010715.975 [DAT](INFO): DAT read: user:2832>

2025-09-04T18:31:55.976Z,1757010715.976 [DAT](INFO): DAT read: Tx time:18:31:55.0797

2025-09-04T18:31:55.977Z,1757010715.977 [DAT](INFO): Ping request sent.
2025-09-04T18:31:55.977Z,1757010715.977 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:31:55.977Z,1757010715.977 [DAT](INFO): publishing transmit ping time
2025-09-04T18:31:55.978Z,1757010715.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001087
2025-09-04T18:31:56.225Z,1757010716.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248291
2025-09-04T18:31:56.291Z,1757010716.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:56.298Z,1757010716.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 110.847069 m,
      bearing: 161.974889 deg,
      approach rate: -0.720442 m/s,
      LOS rate: -0.000239 deg/s,
      cmd heading: 152.432310 deg,
      new cmd heading: 152.432090 deg.

2025-09-04T18:31:56.299Z,1757010716.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660442 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:56.478Z,1757010716.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500837
2025-09-04T18:31:56.633Z,1757010716.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:56.635Z,1757010716.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:56.655Z,1757010716.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 110.578766 m,
      bearing: 161.974747 deg,
      approach rate: -0.780327 m/s,
      LOS rate: -0.000413 deg/s,
      cmd heading: 152.432091 deg,
      new cmd heading: 152.431807 deg.

2025-09-04T18:31:56.663Z,1757010716.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660437 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:56.730Z,1757010716.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753214
2025-09-04T18:31:56.981Z,1757010716.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004314
2025-09-04T18:31:57.046Z,1757010717.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:57.049Z,1757010717.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 110.272446 m,
      bearing: 161.974557 deg,
      approach rate: -0.745847 m/s,
      LOS rate: -0.000465 deg/s,
      cmd heading: 152.431804 deg,
      new cmd heading: 152.431422 deg.

2025-09-04T18:31:57.049Z,1757010717.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660430 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:57.233Z,1757010717.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255987
2025-09-04T18:31:57.474Z,1757010717.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:57.479Z,1757010717.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 109.959183 m,
      bearing: 161.978377 deg,
      approach rate: -0.731593 m/s,
      LOS rate: 0.008948 deg/s,
      cmd heading: 152.431422 deg,
      new cmd heading: 152.439085 deg.

2025-09-04T18:31:57.481Z,1757010717.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660564 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:57.486Z,1757010717.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508639
2025-09-04T18:31:57.737Z,1757010717.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760134
2025-09-04T18:31:57.864Z,1757010717.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:57.867Z,1757010717.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 109.670441 m,
      bearing: 161.981918 deg,
      approach rate: -0.740729 m/s,
      LOS rate: 0.009108 deg/s,
      cmd heading: 152.439085 deg,
      new cmd heading: 152.446186 deg.

2025-09-04T18:31:57.867Z,1757010717.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660688 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:57.989Z,1757010717.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012407
2025-09-04T18:31:58.154Z,1757010718.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:31:58.241Z,1757010718.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264311
2025-09-04T18:31:58.296Z,1757010718.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:58.299Z,1757010718.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 109.354515 m,
      bearing: 161.988967 deg,
      approach rate: -0.731111 m/s,
      LOS rate: 0.016360 deg/s,
      cmd heading: 152.446189 deg,
      new cmd heading: 152.460328 deg.

2025-09-04T18:31:58.300Z,1757010718.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660935 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:58.498Z,1757010718.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520174
2025-09-04T18:31:58.672Z,1757010718.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:31:58.674Z,1757010718.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:58.677Z,1757010718.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 109.079453 m,
      bearing: 161.995112 deg,
      approach rate: -0.727140 m/s,
      LOS rate: 0.016284 deg/s,
      cmd heading: 152.460327 deg,
      new cmd heading: 152.472647 deg.

2025-09-04T18:31:58.678Z,1757010718.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661150 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:58.746Z,1757010718.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769164
2025-09-04T18:31:58.997Z,1757010718.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020162
2025-09-04T18:31:59.069Z,1757010719.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:59.071Z,1757010719.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 108.789398 m,
      bearing: 162.001657 deg,
      approach rate: -0.735311 m/s,
      LOS rate: 0.016638 deg/s,
      cmd heading: 152.472649 deg,
      new cmd heading: 152.485775 deg.

2025-09-04T18:31:59.072Z,1757010719.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661379 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:59.159Z,1757010719.159 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:31:59.249Z,1757010719.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272098
2025-09-04T18:31:59.502Z,1757010719.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524902
2025-09-04T18:31:59.590Z,1757010719.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:59.614Z,1757010719.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 108.403992 m,
      bearing: 162.007623 deg,
      approach rate: -0.739322 m/s,
      LOS rate: 0.011485 deg/s,
      cmd heading: 152.485776 deg,
      new cmd heading: 152.497750 deg.

2025-09-04T18:31:59.615Z,1757010719.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661588 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:31:59.753Z,1757010719.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776110
2025-09-04T18:31:59.966Z,1757010719.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:31:59.973Z,1757010719.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 108.132149 m,
      bearing: 162.011858 deg,
      approach rate: -0.723291 m/s,
      LOS rate: 0.011295 deg/s,
      cmd heading: 152.497757 deg,
      new cmd heading: 152.506247 deg.

2025-09-04T18:31:59.974Z,1757010719.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661736 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:00.005Z,1757010720.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028330
2025-09-04T18:32:00.257Z,1757010720.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280095
2025-09-04T18:32:00.376Z,1757010720.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:00.379Z,1757010720.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 107.828568 m,
      bearing: 162.016148 deg,
      approach rate: -0.739603 m/s,
      LOS rate: 0.010483 deg/s,
      cmd heading: 152.506253 deg,
      new cmd heading: 152.514859 deg.

2025-09-04T18:32:00.380Z,1757010720.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661886 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:00.509Z,1757010720.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532398
2025-09-04T18:32:00.761Z,1757010720.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784261
2025-09-04T18:32:00.764Z,1757010720.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:00.766Z,1757010720.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:00.769Z,1757010720.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 107.546501 m,
      bearing: 162.020133 deg,
      approach rate: -0.723640 m/s,
      LOS rate: 0.010251 deg/s,
      cmd heading: 152.514859 deg,
      new cmd heading: 152.522851 deg.

2025-09-04T18:32:00.770Z,1757010720.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662026 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:01.017Z,1757010721.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040196
2025-09-04T18:32:01.215Z,1757010721.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:01.222Z,1757010721.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 107.257706 m,
      bearing: 162.024215 deg,
      approach rate: -0.643446 m/s,
      LOS rate: 0.009119 deg/s,
      cmd heading: 152.522851 deg,
      new cmd heading: 152.531036 deg.

2025-09-04T18:32:01.223Z,1757010721.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662169 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:01.265Z,1757010721.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288159
2025-09-04T18:32:01.517Z,1757010721.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540300
2025-09-04T18:32:01.615Z,1757010721.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:01.618Z,1757010721.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 106.929306 m,
      bearing: 162.024690 deg,
      approach rate: -0.820515 m/s,
      LOS rate: 0.001190 deg/s,
      cmd heading: 152.531033 deg,
      new cmd heading: 152.531986 deg.

2025-09-04T18:32:01.619Z,1757010721.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662185 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:01.769Z,1757010721.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792221
2025-09-04T18:32:01.996Z,1757010721.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:01.999Z,1757010721.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 106.665840 m,
      bearing: 162.025040 deg,
      approach rate: -0.691384 m/s,
      LOS rate: 0.000920 deg/s,
      cmd heading: 152.531989 deg,
      new cmd heading: 152.532690 deg.

2025-09-04T18:32:02.000Z,1757010722.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662198 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:02.021Z,1757010722.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044189
2025-09-04T18:32:02.273Z,1757010722.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296145
2025-09-04T18:32:02.413Z,1757010722.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:02.415Z,1757010722.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 106.352104 m,
      bearing: 162.025619 deg,
      approach rate: -0.753165 m/s,
      LOS rate: 0.001396 deg/s,
      cmd heading: 152.532686 deg,
      new cmd heading: 152.533849 deg.

2025-09-04T18:32:02.416Z,1757010722.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662218 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:02.525Z,1757010722.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548206
2025-09-04T18:32:02.777Z,1757010722.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800268
2025-09-04T18:32:02.789Z,1757010722.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:02.791Z,1757010722.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:02.794Z,1757010722.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 106.078796 m,
      bearing: 162.026110 deg,
      approach rate: -0.721363 m/s,
      LOS rate: 0.001298 deg/s,
      cmd heading: 152.533847 deg,
      new cmd heading: 152.534831 deg.

2025-09-04T18:32:02.795Z,1757010722.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662235 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:03.029Z,1757010723.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052286
2025-09-04T18:32:03.254Z,1757010723.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:03.257Z,1757010723.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 105.744514 m,
      bearing: 162.026713 deg,
      approach rate: -0.722022 m/s,
      LOS rate: 0.001307 deg/s,
      cmd heading: 152.534831 deg,
      new cmd heading: 152.536041 deg.

2025-09-04T18:32:03.258Z,1757010723.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662256 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:03.294Z,1757010723.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317028
2025-09-04T18:32:03.545Z,1757010723.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.568249
2025-09-04T18:32:03.619Z,1757010723.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:03.621Z,1757010723.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 105.480553 m,
      bearing: 162.024610 deg,
      approach rate: -0.725172 m/s,
      LOS rate: -0.005793 deg/s,
      cmd heading: 152.536047 deg,
      new cmd heading: 152.531829 deg.

2025-09-04T18:32:03.622Z,1757010723.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662183 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:03.797Z,1757010723.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820167
2025-09-04T18:32:04.008Z,1757010724.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:04.011Z,1757010724.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 105.208557 m,
      bearing: 162.022459 deg,
      approach rate: -0.728069 m/s,
      LOS rate: -0.005771 deg/s,
      cmd heading: 152.531826 deg,
      new cmd heading: 152.527514 deg.

2025-09-04T18:32:04.012Z,1757010724.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662107 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:04.050Z,1757010724.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072972
2025-09-04T18:32:04.301Z,1757010724.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324111
2025-09-04T18:32:04.438Z,1757010724.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:04.440Z,1757010724.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 104.907532 m,
      bearing: 162.018731 deg,
      approach rate: -0.675737 m/s,
      LOS rate: -0.008393 deg/s,
      cmd heading: 152.527509 deg,
      new cmd heading: 152.520031 deg.

2025-09-04T18:32:04.441Z,1757010724.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661977 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:04.553Z,1757010724.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576324
2025-09-04T18:32:04.805Z,1757010724.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828050
2025-09-04T18:32:04.831Z,1757010724.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:04.833Z,1757010724.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:04.860Z,1757010724.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 104.608849 m,
      bearing: 162.015071 deg,
      approach rate: -0.754839 m/s,
      LOS rate: -0.009275 deg/s,
      cmd heading: 152.520037 deg,
      new cmd heading: 152.512697 deg.

2025-09-04T18:32:04.861Z,1757010724.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661849 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:05.057Z,1757010725.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.080374
2025-09-04T18:32:05.276Z,1757010725.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:05.279Z,1757010725.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 104.326912 m,
      bearing: 162.011594 deg,
      approach rate: -0.639890 m/s,
      LOS rate: -0.007914 deg/s,
      cmd heading: 152.512701 deg,
      new cmd heading: 152.505727 deg.

2025-09-04T18:32:05.284Z,1757010725.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661727 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:05.309Z,1757010725.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332304
2025-09-04T18:32:05.562Z,1757010725.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584631
2025-09-04T18:32:05.711Z,1757010725.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:05.718Z,1757010725.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 103.986938 m,
      bearing: 162.006892 deg,
      approach rate: -0.777159 m/s,
      LOS rate: -0.010783 deg/s,
      cmd heading: 152.505721 deg,
      new cmd heading: 152.496286 deg.

2025-09-04T18:32:05.725Z,1757010725.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661562 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:05.813Z,1757010725.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836165
2025-09-04T18:32:06.061Z,1757010726.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:06.063Z,1757010726.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 103.720963 m,
      bearing: 162.003197 deg,
      approach rate: -0.761293 m/s,
      LOS rate: -0.010604 deg/s,
      cmd heading: 152.496281 deg,
      new cmd heading: 152.488872 deg.

2025-09-04T18:32:06.065Z,1757010726.065 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:06.065Z,1757010726.065 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:06.065Z,1757010726.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:06.096Z,1757010726.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661433 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:06.317Z,1757010726.317 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:06.317Z,1757010726.317 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:06.317Z,1757010726.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:06.526Z,1757010726.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:06.533Z,1757010726.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 103.407295 m,
      bearing: 162.001932 deg,
      approach rate: -0.673948 m/s,
      LOS rate: -0.002725 deg/s,
      cmd heading: 152.488877 deg,
      new cmd heading: 152.486340 deg.

2025-09-04T18:32:06.534Z,1757010726.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661389 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:06.569Z,1757010726.569 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:06.569Z,1757010726.569 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:06.569Z,1757010726.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:06.821Z,1757010726.821 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:06.821Z,1757010726.821 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:06.821Z,1757010726.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:06.893Z,1757010726.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:06.895Z,1757010726.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:06.902Z,1757010726.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 103.133430 m,
      bearing: 162.000848 deg,
      approach rate: -0.742636 m/s,
      LOS rate: -0.002948 deg/s,
      cmd heading: 152.486336 deg,
      new cmd heading: 152.484162 deg.

2025-09-04T18:32:06.903Z,1757010726.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661351 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:07.073Z,1757010727.073 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:07.073Z,1757010727.073 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:07.073Z,1757010727.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:07.327Z,1757010727.327 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:07.327Z,1757010727.327 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:07.327Z,1757010727.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:07.381Z,1757010727.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:07.383Z,1757010727.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 102.766365 m,
      bearing: 161.997311 deg,
      approach rate: -0.755503 m/s,
      LOS rate: -0.007306 deg/s,
      cmd heading: 152.484164 deg,
      new cmd heading: 152.477066 deg.

2025-09-04T18:32:07.385Z,1757010727.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661227 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:07.577Z,1757010727.577 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:07.577Z,1757010727.577 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:07.577Z,1757010727.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:07.731Z,1757010727.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:07.738Z,1757010727.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 102.523552 m,
      bearing: 161.994929 deg,
      approach rate: -0.692640 m/s,
      LOS rate: -0.006812 deg/s,
      cmd heading: 152.477061 deg,
      new cmd heading: 152.472285 deg.

2025-09-04T18:32:07.739Z,1757010727.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661143 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:07.829Z,1757010727.829 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:07.830Z,1757010727.830 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:07.830Z,1757010727.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:08.081Z,1757010728.081 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:08.081Z,1757010728.081 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:08.081Z,1757010728.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:08.156Z,1757010728.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:08.159Z,1757010728.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 102.224564 m,
      bearing: 161.991906 deg,
      approach rate: -0.755321 m/s,
      LOS rate: -0.007658 deg/s,
      cmd heading: 152.472280 deg,
      new cmd heading: 152.466217 deg.

2025-09-04T18:32:08.164Z,1757010728.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661037 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:08.333Z,1757010728.333 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:32:08.334Z,1757010728.334 [DAT](INFO): response not received
2025-09-04T18:32:08.334Z,1757010728.334 [DAT](INFO): DAT read: user:2833>

2025-09-04T18:32:08.335Z,1757010728.335 [DAT](INFO): DAT read: Tx time:18:32:07.5296

2025-09-04T18:32:08.335Z,1757010728.335 [DAT](INFO): Ping request sent.
2025-09-04T18:32:08.335Z,1757010728.335 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:08.335Z,1757010728.335 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:08.336Z,1757010728.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000843
2025-09-04T18:32:08.585Z,1757010728.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249707
2025-09-04T18:32:08.623Z,1757010728.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:08.645Z,1757010728.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 101.896011 m,
      bearing: 161.993128 deg,
      approach rate: -0.663787 m/s,
      LOS rate: 0.002475 deg/s,
      cmd heading: 152.466215 deg,
      new cmd heading: 152.468665 deg.

2025-09-04T18:32:08.647Z,1757010728.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661080 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:08.838Z,1757010728.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502366
2025-09-04T18:32:08.992Z,1757010728.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:08.995Z,1757010728.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:08.998Z,1757010728.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 101.599464 m,
      bearing: 161.994254 deg,
      approach rate: -0.795979 m/s,
      LOS rate: 0.003033 deg/s,
      cmd heading: 152.468660 deg,
      new cmd heading: 152.470920 deg.

2025-09-04T18:32:08.999Z,1757010728.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661119 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:09.089Z,1757010729.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754029
2025-09-04T18:32:09.341Z,1757010729.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005755
2025-09-04T18:32:09.425Z,1757010729.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:09.427Z,1757010729.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 101.287201 m,
      bearing: 161.995293 deg,
      approach rate: -0.726498 m/s,
      LOS rate: 0.002423 deg/s,
      cmd heading: 152.470914 deg,
      new cmd heading: 152.472997 deg.

2025-09-04T18:32:09.428Z,1757010729.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661156 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:09.594Z,1757010729.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258310
2025-09-04T18:32:09.843Z,1757010729.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:09.845Z,1757010729.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509897
2025-09-04T18:32:09.848Z,1757010729.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 100.983971 m,
      bearing: 161.996283 deg,
      approach rate: -0.723709 m/s,
      LOS rate: 0.002370 deg/s,
      cmd heading: 152.472990 deg,
      new cmd heading: 152.474976 deg.

2025-09-04T18:32:09.849Z,1757010729.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661190 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:10.097Z,1757010730.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761815
2025-09-04T18:32:10.217Z,1757010730.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:10.219Z,1757010730.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 100.726669 m,
      bearing: 161.997123 deg,
      approach rate: -0.689577 m/s,
      LOS rate: 0.002258 deg/s,
      cmd heading: 152.474971 deg,
      new cmd heading: 152.476656 deg.

2025-09-04T18:32:10.225Z,1757010730.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661220 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:10.353Z,1757010730.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016783
2025-09-04T18:32:10.601Z,1757010730.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265883
2025-09-04T18:32:10.686Z,1757010730.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:10.692Z,1757010730.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 100.395737 m,
      bearing: 161.999994 deg,
      approach rate: -0.705758 m/s,
      LOS rate: 0.006142 deg/s,
      cmd heading: 152.476651 deg,
      new cmd heading: 152.482411 deg.

2025-09-04T18:32:10.693Z,1757010730.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661320 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:10.853Z,1757010730.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517855
2025-09-04T18:32:11.030Z,1757010731.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:11.032Z,1757010731.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:11.035Z,1757010731.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 100.134987 m,
      bearing: 162.002236 deg,
      approach rate: -0.752026 m/s,
      LOS rate: 0.006484 deg/s,
      cmd heading: 152.482416 deg,
      new cmd heading: 152.486913 deg.

2025-09-04T18:32:11.037Z,1757010731.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661399 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:11.105Z,1757010731.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769927
2025-09-04T18:32:11.360Z,1757010731.360 [DAT](INFO): DAT read: Rx Time:18:32:10.0342

2025-09-04T18:32:11.361Z,1757010731.361 [DAT](INFO): Rx dataTimestamp_ set to:1757010731.360478
2025-09-04T18:32:11.361Z,1757010731.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026042
2025-09-04T18:32:11.449Z,1757010731.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.99 m.
2025-09-04T18:32:11.452Z,1757010731.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.992798 m,
      nav range: 99.820007 m,
      bearing: 162.005872 deg,
      approach rate: -0.755725 m/s,
      LOS rate: 0.008751 deg/s,
      cmd heading: 152.486910 deg,
      new cmd heading: 152.494205 deg.

2025-09-04T18:32:11.454Z,1757010731.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661526 target range: 164.992798 and range: 165.70 m.
2025-09-04T18:32:11.611Z,1757010731.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275720
2025-09-04T18:32:11.867Z,1757010731.867 [DAT](INFO): DAT read: 18:32:10.0342 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 161, 0.19,-0.665,-2.595,-0.961,-1.082, PHS= 0.519,-1.468, 0.077, RAW= 137.8,   9.7, CAL= 137.4,  10.7, ROT=  12.6, -10.7

2025-09-04T18:32:11.869Z,1757010731.869 [DAT](INFO): got valid direction response:
 18:32:10.0342 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 161, 0.19,-0.665,-2.595,-0.961,-1.082, PHS= 0.519,-1.468, 0.077, RAW= 137.8,   9.7, CAL= 137.4,  10.7, ROT=  12.6, -10.7

2025-09-04T18:32:11.870Z,1757010731.870 [DAT](INFO): DAT read: Bearing 323.5,  13.9 (Local)

2025-09-04T18:32:11.871Z,1757010731.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.5,  13.9 (Local)

2025-09-04T18:32:11.873Z,1757010731.873 [DAT](INFO): DAT read: Range 11 to 50 : 75.3 m  (Round-trip  100.4 ms) speed  0.5 m/s

2025-09-04T18:32:11.873Z,1757010731.873 [DAT](INFO): DAT read: user:2834>

2025-09-04T18:32:11.874Z,1757010731.874 [DAT](INFO): DAT read: Tx time:18:32:11.1296

2025-09-04T18:32:11.874Z,1757010731.874 [DAT](INFO): Ping request sent.
2025-09-04T18:32:11.874Z,1757010731.874 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:11.875Z,1757010731.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:11.876Z,1757010731.876 [DAT](INFO): direction in FSK: [0.958948,0.214350,0.185667]
2025-09-04T18:32:11.896Z,1757010731.896 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:11.897Z,1757010731.897 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:11.900Z,1757010731.900 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:11.900Z,1757010731.900 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:11.988Z,1757010731.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.300003 m,
      deltaT: 28.488078 s,
      deltaX: -90.399994 m,
      approachRate: -3.173257 m/s,
      rangeRepo size: 4

2025-09-04T18:32:11.994Z,1757010731.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.978806 m,
      bearing: 165.194793 deg,
      lat: 36.779112 deg,
      lon: -121.859430 deg,
      deltaT: 28.488078 s,
      deltaX: -90.013992 m,
      approachRate: -3.159708 m/s,
      posRepo size: 4

2025-09-04T18:32:11.995Z,1757010731.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:12.006Z,1757010732.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 99.152077 m,
      bearing: 162.603320 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008751 deg/s,
      cmd heading: 152.494205 deg,
      new cmd heading: 152.503620 deg.

2025-09-04T18:32:12.007Z,1757010732.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661690 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:12.487Z,1757010732.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:12.521Z,1757010732.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 98.742996 m,
      bearing: 162.612488 deg,
      approach rate: -0.818271 m/s,
      LOS rate: 0.018415 deg/s,
      cmd heading: 152.503617 deg,
      new cmd heading: 152.522029 deg.

2025-09-04T18:32:12.522Z,1757010732.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662012 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:12.880Z,1757010732.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:12.883Z,1757010732.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 98.457802 m,
      bearing: 162.618854 deg,
      approach rate: -0.725743 m/s,
      LOS rate: 0.016246 deg/s,
      cmd heading: 152.522031 deg,
      new cmd heading: 152.534800 deg.

2025-09-04T18:32:12.888Z,1757010732.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662235 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:13.268Z,1757010733.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:13.271Z,1757010733.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:13.274Z,1757010733.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 98.160225 m,
      bearing: 162.625521 deg,
      approach rate: -0.761436 m/s,
      LOS rate: 0.017112 deg/s,
      cmd heading: 152.534803 deg,
      new cmd heading: 152.548179 deg.

2025-09-04T18:32:13.275Z,1757010733.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662468 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:13.375Z,1757010733.375 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:13.376Z,1757010733.376 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:13.377Z,1757010733.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:13.626Z,1757010733.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750987
2025-09-04T18:32:13.762Z,1757010733.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:13.766Z,1757010733.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 97.804138 m,
      bearing: 162.633658 deg,
      approach rate: -0.724045 m/s,
      LOS rate: 0.016605 deg/s,
      cmd heading: 152.548177 deg,
      new cmd heading: 152.564509 deg.

2025-09-04T18:32:13.767Z,1757010733.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662753 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:13.879Z,1757010733.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004270
2025-09-04T18:32:14.082Z,1757010734.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:14.086Z,1757010734.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 97.573288 m,
      bearing: 162.638958 deg,
      approach rate: -0.721432 m/s,
      LOS rate: 0.016605 deg/s,
      cmd heading: 152.564515 deg,
      new cmd heading: 152.575141 deg.

2025-09-04T18:32:14.087Z,1757010734.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662939 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:14.134Z,1757010734.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258776
2025-09-04T18:32:14.383Z,1757010734.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508254
2025-09-04T18:32:14.524Z,1757010734.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:14.551Z,1757010734.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 97.251541 m,
      bearing: 162.647465 deg,
      approach rate: -0.729538 m/s,
      LOS rate: 0.019352 deg/s,
      cmd heading: 152.575143 deg,
      new cmd heading: 152.592212 deg.

2025-09-04T18:32:14.552Z,1757010734.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663237 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:14.635Z,1757010734.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760095
2025-09-04T18:32:14.885Z,1757010734.885 [DAT](INFO): DAT read: Rx Time:18:32:13.6306

2025-09-04T18:32:14.886Z,1757010734.886 [DAT](INFO): Rx dataTimestamp_ set to:1757010734.885350
2025-09-04T18:32:14.886Z,1757010734.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011738
2025-09-04T18:32:14.945Z,1757010734.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:14.947Z,1757010734.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 96.970039 m,
      bearing: 162.654944 deg,
      approach rate: -0.667984 m/s,
      LOS rate: 0.017799 deg/s,
      cmd heading: 152.592218 deg,
      new cmd heading: 152.607220 deg.

2025-09-04T18:32:14.957Z,1757010734.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663498 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:15.137Z,1757010735.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262728
2025-09-04T18:32:15.279Z,1757010735.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:15.281Z,1757010735.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.98 m.
2025-09-04T18:32:15.284Z,1757010735.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.978806 m,
      nav range: 96.698631 m,
      bearing: 162.662175 deg,
      approach rate: -0.806926 m/s,
      LOS rate: 0.021560 deg/s,
      cmd heading: 152.607217 deg,
      new cmd heading: 152.621720 deg.

2025-09-04T18:32:15.285Z,1757010735.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663752 target range: 74.978806 and range: 75.30 m.
2025-09-04T18:32:15.394Z,1757010735.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518921
2025-09-04T18:32:15.647Z,1757010735.647 [DAT](INFO): DAT read: 18:32:13.6306 LVL= 27056, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.32,-1.819, 2.585,-2.087,-2.217, PHS= 0.500,-1.437, 0.086, RAW= 138.3,   9.7, CAL= 137.9,  10.6, ROT=  12.1, -10.6

2025-09-04T18:32:15.656Z,1757010735.656 [DAT](INFO): got valid direction response:
 18:32:13.6306 LVL= 27056, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.32,-1.819, 2.585,-2.087,-2.217, PHS= 0.500,-1.437, 0.086, RAW= 138.3,   9.7, CAL= 137.9,  10.6, ROT=  12.1, -10.6

2025-09-04T18:32:15.657Z,1757010735.657 [DAT](INFO): DAT read: Bearing 323.3,  13.8 (Local)

2025-09-04T18:32:15.657Z,1757010735.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.3,  13.8 (Local)

2025-09-04T18:32:15.659Z,1757010735.659 [DAT](INFO): DAT read: Range 11 to 50 : 72.6 m  (Round-trip  96.8 ms) speed  0.9 m/s

2025-09-04T18:32:15.659Z,1757010735.659 [DAT](INFO): DAT read: user:2835>

2025-09-04T18:32:15.673Z,1757010735.673 [DAT](INFO): DAT read: Tx time:18:32:14.7296

2025-09-04T18:32:15.673Z,1757010735.673 [DAT](INFO): Ping request sent.
2025-09-04T18:32:15.673Z,1757010735.673 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:15.674Z,1757010735.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:15.674Z,1757010735.674 [DAT](INFO): direction in FSK: [0.961098,0.206041,0.183951]
2025-09-04T18:32:15.675Z,1757010735.675 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:15.675Z,1757010735.675 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:15.678Z,1757010735.678 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:15.678Z,1757010735.678 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:15.835Z,1757010735.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.599998 m,
      deltaT: 3.779908 s,
      deltaX: -2.700005 m,
      approachRate: -0.714304 m/s,
      rangeRepo size: 4

2025-09-04T18:32:15.841Z,1757010735.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.290329 m,
      bearing: 164.720096 deg,
      lat: 36.779159 deg,
      lon: -121.859543 deg,
      deltaT: 3.779908 s,
      deltaX: -2.688477 m,
      approachRate: -0.711254 m/s,
      posRepo size: 4

2025-09-04T18:32:15.842Z,1757010735.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:15.849Z,1757010735.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 88.612938 m,
      bearing: 167.877753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021560 deg/s,
      cmd heading: 152.621724 deg,
      new cmd heading: 152.645286 deg.

2025-09-04T18:32:15.850Z,1757010735.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664163 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:16.208Z,1757010736.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:16.215Z,1757010736.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 88.319092 m,
      bearing: 167.900473 deg,
      approach rate: -0.773530 m/s,
      LOS rate: 0.060007 deg/s,
      cmd heading: 152.645289 deg,
      new cmd heading: 152.690879 deg.

2025-09-04T18:32:16.219Z,1757010736.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664958 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:16.650Z,1757010736.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:16.661Z,1757010736.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 87.996643 m,
      bearing: 167.921799 deg,
      approach rate: -0.729108 m/s,
      LOS rate: 0.048399 deg/s,
      cmd heading: 152.690873 deg,
      new cmd heading: 152.733682 deg.

2025-09-04T18:32:16.662Z,1757010736.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665706 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:16.986Z,1757010736.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:16.989Z,1757010736.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 87.751160 m,
      bearing: 167.938088 deg,
      approach rate: -0.730512 m/s,
      LOS rate: 0.048608 deg/s,
      cmd heading: 152.733685 deg,
      new cmd heading: 152.766354 deg.

2025-09-04T18:32:16.990Z,1757010736.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666276 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:17.378Z,1757010737.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:17.407Z,1757010737.407 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:17.408Z,1757010737.408 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:17.409Z,1757010737.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:17.417Z,1757010737.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:17.439Z,1757010737.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 87.453056 m,
      bearing: 167.958002 deg,
      approach rate: -0.756135 m/s,
      LOS rate: 0.050683 deg/s,
      cmd heading: 152.766347 deg,
      new cmd heading: 152.806310 deg.

2025-09-04T18:32:17.447Z,1757010737.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666973 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:17.657Z,1757010737.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983716
2025-09-04T18:32:17.881Z,1757010737.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:17.884Z,1757010737.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 87.092255 m,
      bearing: 167.978056 deg,
      approach rate: -0.719890 m/s,
      LOS rate: 0.040179 deg/s,
      cmd heading: 152.806304 deg,
      new cmd heading: 152.846578 deg.

2025-09-04T18:32:17.885Z,1757010737.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667676 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:17.909Z,1757010737.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235789
2025-09-04T18:32:18.161Z,1757010738.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487984
2025-09-04T18:32:18.312Z,1757010738.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:18.315Z,1757010738.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 86.785194 m,
      bearing: 167.995063 deg,
      approach rate: -0.712777 m/s,
      LOS rate: 0.039618 deg/s,
      cmd heading: 152.846574 deg,
      new cmd heading: 152.880709 deg.

2025-09-04T18:32:18.316Z,1757010738.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668272 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:18.415Z,1757010738.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741810
2025-09-04T18:32:18.665Z,1757010738.665 [DAT](INFO): DAT read: Rx Time:18:32:17.2270

2025-09-04T18:32:18.666Z,1757010738.666 [DAT](INFO): Rx dataTimestamp_ set to:1757010738.665359
2025-09-04T18:32:18.666Z,1757010738.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992945
2025-09-04T18:32:18.774Z,1757010738.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:18.778Z,1757010738.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 86.451164 m,
      bearing: 168.015207 deg,
      approach rate: -0.722621 m/s,
      LOS rate: 0.043748 deg/s,
      cmd heading: 152.880712 deg,
      new cmd heading: 152.921157 deg.

2025-09-04T18:32:18.779Z,1757010738.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668978 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:18.917Z,1757010738.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244125
2025-09-04T18:32:19.150Z,1757010739.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.29 m.
2025-09-04T18:32:19.153Z,1757010739.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.290329 m,
      nav range: 86.177826 m,
      bearing: 168.031860 deg,
      approach rate: -0.726786 m/s,
      LOS rate: 0.044419 deg/s,
      cmd heading: 152.921160 deg,
      new cmd heading: 152.954571 deg.

2025-09-04T18:32:19.154Z,1757010739.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669561 target range: 72.290329 and range: 72.60 m.
2025-09-04T18:32:19.175Z,1757010739.175 [DAT](INFO): DAT read: 18:32:17.2270 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.07,-2.119, 2.340,-2.354,-2.466, PHS= 0.449,-1.433, 0.068, RAW= 139.0,  10.7, CAL= 138.4,  11.6, ROT=  11.6, -11.6

2025-09-04T18:32:19.176Z,1757010739.176 [DAT](INFO): got valid direction response:
 18:32:17.2270 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.07,-2.119, 2.340,-2.354,-2.466, PHS= 0.449,-1.433, 0.068, RAW= 139.0,  10.7, CAL= 138.4,  11.6, ROT=  11.6, -11.6

2025-09-04T18:32:19.177Z,1757010739.177 [DAT](INFO): DAT read: Bearing 324.2,  13.3 (Local)

2025-09-04T18:32:19.177Z,1757010739.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.2,  13.3 (Local)

2025-09-04T18:32:19.179Z,1757010739.179 [DAT](INFO): DAT read: Range 11 to 50 : 69.9 m  (Round-trip  93.3 ms) speed  0.7 m/s

2025-09-04T18:32:19.179Z,1757010739.179 [DAT](INFO): DAT read: user:2836>

2025-09-04T18:32:19.180Z,1757010739.180 [DAT](INFO): DAT read: Tx time:18:32:18.3295

2025-09-04T18:32:19.181Z,1757010739.181 [DAT](INFO): Ping request sent.
2025-09-04T18:32:19.181Z,1757010739.181 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:19.181Z,1757010739.181 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:19.182Z,1757010739.182 [DAT](INFO): direction in FSK: [0.959568,0.196971,0.201078]
2025-09-04T18:32:19.182Z,1757010739.182 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:19.182Z,1757010739.182 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:19.194Z,1757010739.194 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:19.194Z,1757010739.194 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:19.653Z,1757010739.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.900002 m,
      deltaT: 3.528055 s,
      deltaX: -2.699997 m,
      approachRate: -0.765293 m/s,
      rangeRepo size: 4

2025-09-04T18:32:19.655Z,1757010739.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.602081 m,
      bearing: 164.399244 deg,
      lat: 36.779325 deg,
      lon: -121.859543 deg,
      deltaT: 3.528055 s,
      deltaX: -2.688248 m,
      approachRate: -0.761963 m/s,
      posRepo size: 4

2025-09-04T18:32:19.656Z,1757010739.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:19.658Z,1757010739.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 67.866432 m,
      bearing: 164.823825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044419 deg/s,
      cmd heading: 152.954573 deg,
      new cmd heading: 152.999139 deg.

2025-09-04T18:32:19.659Z,1757010739.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670339 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:20.060Z,1757010740.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:20.066Z,1757010740.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:20.073Z,1757010740.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 67.570297 m,
      bearing: 164.830529 deg,
      approach rate: -0.715414 m/s,
      LOS rate: 0.016269 deg/s,
      cmd heading: 152.999133 deg,
      new cmd heading: 153.012602 deg.

2025-09-04T18:32:20.074Z,1757010740.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670574 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:20.178Z,1757010740.178 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:20.178Z,1757010740.178 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:20.178Z,1757010740.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:20.432Z,1757010740.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250363
2025-09-04T18:32:20.590Z,1757010740.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:20.603Z,1757010740.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 67.206688 m,
      bearing: 164.840478 deg,
      approach rate: -0.694047 m/s,
      LOS rate: 0.019092 deg/s,
      cmd heading: 153.012603 deg,
      new cmd heading: 153.032607 deg.

2025-09-04T18:32:20.615Z,1757010740.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670923 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:20.682Z,1757010740.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500928
2025-09-04T18:32:20.933Z,1757010740.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752325
2025-09-04T18:32:21.019Z,1757010741.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:21.023Z,1757010741.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 66.890800 m,
      bearing: 164.849324 deg,
      approach rate: -0.735381 m/s,
      LOS rate: 0.020691 deg/s,
      cmd heading: 153.032601 deg,
      new cmd heading: 153.050378 deg.

2025-09-04T18:32:21.025Z,1757010741.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671233 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:21.185Z,1757010741.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004364
2025-09-04T18:32:21.362Z,1757010741.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:21.381Z,1757010741.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 66.629066 m,
      bearing: 164.856628 deg,
      approach rate: -0.764272 m/s,
      LOS rate: 0.021412 deg/s,
      cmd heading: 153.050373 deg,
      new cmd heading: 153.065039 deg.

2025-09-04T18:32:21.382Z,1757010741.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671489 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:21.438Z,1757010741.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257058
2025-09-04T18:32:21.689Z,1757010741.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448
2025-09-04T18:32:21.787Z,1757010741.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:21.789Z,1757010741.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 66.323250 m,
      bearing: 164.864332 deg,
      approach rate: -0.720262 m/s,
      LOS rate: 0.018229 deg/s,
      cmd heading: 153.065045 deg,
      new cmd heading: 153.080524 deg.

2025-09-04T18:32:21.790Z,1757010741.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671759 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:21.941Z,1757010741.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760437
2025-09-04T18:32:22.170Z,1757010742.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:22.172Z,1757010742.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:22.175Z,1757010742.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 66.045746 m,
      bearing: 164.871324 deg,
      approach rate: -0.720157 m/s,
      LOS rate: 0.018220 deg/s,
      cmd heading: 153.080522 deg,
      new cmd heading: 153.094564 deg.

2025-09-04T18:32:22.176Z,1757010742.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672004 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:22.193Z,1757010742.193 [DAT](INFO): DAT read: Rx Time:18:32:20.8235

2025-09-04T18:32:22.193Z,1757010742.193 [DAT](INFO): Rx dataTimestamp_ set to:1757010742.193104
2025-09-04T18:32:22.194Z,1757010742.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013239
2025-09-04T18:32:22.446Z,1757010742.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265258
2025-09-04T18:32:22.666Z,1757010742.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.60 m.
2025-09-04T18:32:22.669Z,1757010742.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.602081 m,
      nav range: 65.684837 m,
      bearing: 164.886646 deg,
      approach rate: -0.730892 m/s,
      LOS rate: 0.031201 deg/s,
      cmd heading: 153.094565 deg,
      new cmd heading: 153.125378 deg.

2025-09-04T18:32:22.670Z,1757010742.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672542 target range: 69.602081 and range: 69.90 m.
2025-09-04T18:32:22.703Z,1757010742.703 [DAT](INFO): DAT read: 18:32:20.8235 LVL= 24144, 31777, 27938, 32755, AGC= 72, IDX= 404, 0.50, 0.255,-1.636,-0.008,-0.167, PHS= 0.524,-1.424, 0.115, RAW= 138.5,   8.9, CAL= 138.2,   9.8, ROT=  11.8,  -9.8

2025-09-04T18:32:22.706Z,1757010742.706 [DAT](INFO): got valid direction response:
 18:32:20.8235 LVL= 24144, 31777, 27938, 32755, AGC= 72, IDX= 404, 0.50, 0.255,-1.636,-0.008,-0.167, PHS= 0.524,-1.424, 0.115, RAW= 138.5,   8.9, CAL= 138.2,   9.8, ROT=  11.8,  -9.8

2025-09-04T18:32:22.707Z,1757010742.707 [DAT](INFO): DAT read: Bearing 322.3,  13.6 (Local)

2025-09-04T18:32:22.708Z,1757010742.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,  13.6 (Local)

2025-09-04T18:32:22.710Z,1757010742.710 [DAT](INFO): DAT read: Range 11 to 50 : 67.3 m  (Round-trip  89.8 ms) speed  0.7 m/s

2025-09-04T18:32:22.711Z,1757010742.711 [DAT](INFO): DAT read: user:2837>

2025-09-04T18:32:22.712Z,1757010742.712 [DAT](INFO): DAT read: Tx time:18:32:21.9295

2025-09-04T18:32:22.712Z,1757010742.712 [DAT](INFO): Ping request sent.
2025-09-04T18:32:22.713Z,1757010742.713 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:22.713Z,1757010742.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:22.714Z,1757010742.714 [DAT](INFO): direction in FSK: [0.964584,0.201512,0.170209]
2025-09-04T18:32:22.715Z,1757010742.715 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:22.717Z,1757010742.717 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:22.722Z,1757010742.722 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:22.722Z,1757010742.722 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:23.006Z,1757010743.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.300003 m,
      deltaT: 3.527881 s,
      deltaX: -2.599998 m,
      approachRate: -0.736986 m/s,
      rangeRepo size: 4

2025-09-04T18:32:23.010Z,1757010743.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.013206 m,
      bearing: 164.587877 deg,
      lat: 36.779325 deg,
      lon: -121.859539 deg,
      deltaT: 3.527881 s,
      deltaX: -2.588875 m,
      approachRate: -0.733833 m/s,
      posRepo size: 4

2025-09-04T18:32:23.010Z,1757010743.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:23.021Z,1757010743.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 65.549606 m,
      bearing: 164.568929 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031201 deg/s,
      cmd heading: 153.125383 deg,
      new cmd heading: 153.146598 deg.

2025-09-04T18:32:23.022Z,1757010743.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672912 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:23.387Z,1757010743.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:23.390Z,1757010743.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 65.258759 m,
      bearing: 164.579707 deg,
      approach rate: -0.762609 m/s,
      LOS rate: 0.028387 deg/s,
      cmd heading: 153.146597 deg,
      new cmd heading: 153.168250 deg.

2025-09-04T18:32:23.391Z,1757010743.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673290 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:23.840Z,1757010743.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:23.843Z,1757010743.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 64.943863 m,
      bearing: 164.592946 deg,
      approach rate: -0.694816 m/s,
      LOS rate: 0.029354 deg/s,
      cmd heading: 153.168249 deg,
      new cmd heading: 153.194856 deg.

2025-09-04T18:32:23.844Z,1757010743.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673755 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:24.196Z,1757010744.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:24.198Z,1757010744.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:24.201Z,1757010744.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 64.666138 m,
      bearing: 164.604725 deg,
      approach rate: -0.776359 m/s,
      LOS rate: 0.033067 deg/s,
      cmd heading: 153.194859 deg,
      new cmd heading: 153.218517 deg.

2025-09-04T18:32:24.202Z,1757010744.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674168 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:24.209Z,1757010744.209 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:24.209Z,1757010744.209 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:24.209Z,1757010744.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:24.461Z,1757010744.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748507
2025-09-04T18:32:24.664Z,1757010744.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:24.667Z,1757010744.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 64.334442 m,
      bearing: 164.620446 deg,
      approach rate: -0.730856 m/s,
      LOS rate: 0.034819 deg/s,
      cmd heading: 153.218519 deg,
      new cmd heading: 153.250124 deg.

2025-09-04T18:32:24.672Z,1757010744.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674719 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:24.715Z,1757010744.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002043
2025-09-04T18:32:24.965Z,1757010744.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252541
2025-09-04T18:32:25.005Z,1757010745.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:25.008Z,1757010745.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 64.075302 m,
      bearing: 164.632578 deg,
      approach rate: -0.732943 m/s,
      LOS rate: 0.034452 deg/s,
      cmd heading: 153.250129 deg,
      new cmd heading: 153.274491 deg.

2025-09-04T18:32:25.009Z,1757010745.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675144 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:25.220Z,1757010745.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507507
2025-09-04T18:32:25.403Z,1757010745.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:25.406Z,1757010745.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 63.784065 m,
      bearing: 164.646197 deg,
      approach rate: -0.731545 m/s,
      LOS rate: 0.034365 deg/s,
      cmd heading: 153.274486 deg,
      new cmd heading: 153.301848 deg.

2025-09-04T18:32:25.407Z,1757010745.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675622 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:25.471Z,1757010745.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757519
2025-09-04T18:32:25.721Z,1757010745.721 [DAT](INFO): DAT read: Rx Time:18:32:24.4200

2025-09-04T18:32:25.722Z,1757010745.722 [DAT](INFO): Rx dataTimestamp_ set to:1757010745.721438
2025-09-04T18:32:25.722Z,1757010745.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009746
2025-09-04T18:32:25.839Z,1757010745.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.01 m.
2025-09-04T18:32:25.842Z,1757010745.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.013206 m,
      nav range: 63.465900 m,
      bearing: 164.660310 deg,
      approach rate: -0.730253 m/s,
      LOS rate: 0.032554 deg/s,
      cmd heading: 153.301847 deg,
      new cmd heading: 153.330214 deg.

2025-09-04T18:32:25.843Z,1757010745.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676117 target range: 67.013206 and range: 67.30 m.
2025-09-04T18:32:25.973Z,1757010745.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260495
2025-09-04T18:32:26.236Z,1757010746.236 [DAT](INFO): DAT read: 18:32:24.4200 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.41,-2.235, 2.269,-2.445,-2.590, PHS= 0.457,-1.379, 0.101, RAW= 139.5,   9.8, CAL= 139.0,  10.7, ROT=  11.0, -10.7

2025-09-04T18:32:26.237Z,1757010746.237 [DAT](INFO): got valid direction response:
 18:32:24.4200 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.41,-2.235, 2.269,-2.445,-2.590, PHS= 0.457,-1.379, 0.101, RAW= 139.5,   9.8, CAL= 139.0,  10.7, ROT=  11.0, -10.7

2025-09-04T18:32:26.238Z,1757010746.238 [DAT](INFO): DAT read: Bearing 323.3,  12.6 (Local)

2025-09-04T18:32:26.239Z,1757010746.239 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.3,  12.6 (Local)

2025-09-04T18:32:26.240Z,1757010746.240 [DAT](INFO): DAT read: Range 11 to 50 : 64.7 m  (Round-trip  86.3 ms) speed  0.6 m/s

2025-09-04T18:32:26.241Z,1757010746.241 [DAT](INFO): DAT read: user:2838>

2025-09-04T18:32:26.242Z,1757010746.242 [DAT](INFO): DAT read: Tx time:18:32:25.5295

2025-09-04T18:32:26.242Z,1757010746.242 [DAT](INFO): Ping request sent.
2025-09-04T18:32:26.242Z,1757010746.242 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:26.242Z,1757010746.242 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:26.243Z,1757010746.243 [DAT](INFO): direction in FSK: [0.964559,0.187491,0.185667]
2025-09-04T18:32:26.244Z,1757010746.244 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:26.248Z,1757010746.248 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:26.255Z,1757010746.255 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:26.255Z,1757010746.255 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:26.280Z,1757010746.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.699997 m,
      deltaT: 3.529797 s,
      deltaX: -2.600006 m,
      approachRate: -0.736588 m/s,
      rangeRepo size: 4

2025-09-04T18:32:26.283Z,1757010746.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.423798 m,
      bearing: 164.053570 deg,
      lat: 36.779326 deg,
      lon: -121.859539 deg,
      deltaT: 3.529797 s,
      deltaX: -2.589409 m,
      approachRate: -0.733586 m/s,
      posRepo size: 4

2025-09-04T18:32:26.283Z,1757010746.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:26.287Z,1757010746.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 63.086926 m,
      bearing: 164.659365 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032554 deg/s,
      cmd heading: 153.330220 deg,
      new cmd heading: 153.358849 deg.

2025-09-04T18:32:26.288Z,1757010746.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676617 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:26.753Z,1757010746.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:26.755Z,1757010746.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:26.763Z,1757010746.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 62.739162 m,
      bearing: 164.678015 deg,
      approach rate: -0.730361 m/s,
      LOS rate: 0.039384 deg/s,
      cmd heading: 153.358852 deg,
      new cmd heading: 153.396358 deg.

2025-09-04T18:32:26.764Z,1757010746.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677272 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:26.981Z,1757010746.981 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:26.981Z,1757010746.981 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:26.981Z,1757010746.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:27.135Z,1757010747.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:27.138Z,1757010747.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 62.454281 m,
      bearing: 164.693399 deg,
      approach rate: -0.748963 m/s,
      LOS rate: 0.040630 deg/s,
      cmd heading: 153.396364 deg,
      new cmd heading: 153.427273 deg.

2025-09-04T18:32:27.139Z,1757010747.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677811 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:27.233Z,1757010747.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991262
2025-09-04T18:32:27.485Z,1757010747.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243236
2025-09-04T18:32:27.625Z,1757010747.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:27.630Z,1757010747.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 62.134247 m,
      bearing: 164.710850 deg,
      approach rate: -0.653340 m/s,
      LOS rate: 0.035810 deg/s,
      cmd heading: 153.427277 deg,
      new cmd heading: 153.462360 deg.

2025-09-04T18:32:27.631Z,1757010747.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678423 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:27.737Z,1757010747.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494872
2025-09-04T18:32:27.959Z,1757010747.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:27.962Z,1757010747.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 61.856483 m,
      bearing: 164.725896 deg,
      approach rate: -0.833231 m/s,
      LOS rate: 0.045335 deg/s,
      cmd heading: 153.462357 deg,
      new cmd heading: 153.492583 deg.

2025-09-04T18:32:27.963Z,1757010747.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678951 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:27.989Z,1757010747.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746804
2025-09-04T18:32:28.241Z,1757010748.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998781
2025-09-04T18:32:28.358Z,1757010748.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:28.361Z,1757010748.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 61.580563 m,
      bearing: 164.740851 deg,
      approach rate: -0.690593 m/s,
      LOS rate: 0.037598 deg/s,
      cmd heading: 153.492587 deg,
      new cmd heading: 153.522631 deg.

2025-09-04T18:32:28.362Z,1757010748.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679475 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:28.494Z,1757010748.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251801
2025-09-04T18:32:28.745Z,1757010748.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502921
2025-09-04T18:32:28.761Z,1757010748.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:28.764Z,1757010748.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:28.767Z,1757010748.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 61.272427 m,
      bearing: 164.753287 deg,
      approach rate: -0.760000 m/s,
      LOS rate: 0.030827 deg/s,
      cmd heading: 153.522626 deg,
      new cmd heading: 153.547623 deg.

2025-09-04T18:32:28.768Z,1757010748.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679912 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:28.997Z,1757010748.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754877
2025-09-04T18:32:29.145Z,1757010749.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:29.148Z,1757010749.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 60.992519 m,
      bearing: 164.764731 deg,
      approach rate: -0.734042 m/s,
      LOS rate: 0.030150 deg/s,
      cmd heading: 153.547625 deg,
      new cmd heading: 153.570619 deg.

2025-09-04T18:32:29.149Z,1757010749.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680313 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:29.249Z,1757010749.249 [DAT](INFO): DAT read: Rx Time:18:32:28.0165

2025-09-04T18:32:29.250Z,1757010749.250 [DAT](INFO): Rx dataTimestamp_ set to:1757010749.249334
2025-09-04T18:32:29.250Z,1757010749.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007975
2025-09-04T18:32:29.293Z,1757010749.293 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:32:29.502Z,1757010749.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259539
2025-09-04T18:32:29.685Z,1757010749.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.42 m.
2025-09-04T18:32:29.687Z,1757010749.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.423798 m,
      nav range: 60.601765 m,
      bearing: 164.783238 deg,
      approach rate: -0.723708 m/s,
      LOS rate: 0.034498 deg/s,
      cmd heading: 153.570615 deg,
      new cmd heading: 153.607869 deg.

2025-09-04T18:32:29.689Z,1757010749.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680963 target range: 64.423798 and range: 64.70 m.
2025-09-04T18:32:29.754Z,1757010749.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511971
2025-09-04T18:32:30.011Z,1757010750.011 [DAT](INFO): DAT read: 18:32:28.0165 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.18,-1.228,-3.046,-1.449,-1.624, PHS= 0.498,-1.377, 0.132, RAW= 139.4,   8.7, CAL= 139.0,   9.6, ROT=  11.0,  -9.6

2025-09-04T18:32:30.012Z,1757010750.012 [DAT](INFO): got valid direction response:
 18:32:28.0165 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.18,-1.228,-3.046,-1.449,-1.624, PHS= 0.498,-1.377, 0.132, RAW= 139.4,   8.7, CAL= 139.0,   9.6, ROT=  11.0,  -9.6

2025-09-04T18:32:30.013Z,1757010750.013 [DAT](INFO): DAT read: Bearing 322.2,  12.6 (Local)

2025-09-04T18:32:30.014Z,1757010750.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.2,  12.6 (Local)

2025-09-04T18:32:30.015Z,1757010750.015 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m  (Round-trip  82.8 ms) speed  0.5 m/s

2025-09-04T18:32:30.016Z,1757010750.016 [DAT](INFO): DAT read: user:2839>

2025-09-04T18:32:30.017Z,1757010750.017 [DAT](INFO): DAT read: Tx time:18:32:29.1295

2025-09-04T18:32:30.017Z,1757010750.017 [DAT](INFO): Ping request sent.
2025-09-04T18:32:30.017Z,1757010750.017 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:30.018Z,1757010750.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:30.018Z,1757010750.018 [DAT](INFO): direction in FSK: [0.967881,0.188137,0.166769]
2025-09-04T18:32:30.019Z,1757010750.019 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:30.019Z,1757010750.019 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:30.054Z,1757010750.054 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:30.055Z,1757010750.055 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:30.120Z,1757010750.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.099998 m,
      deltaT: 3.778326 s,
      deltaX: -2.599998 m,
      approachRate: -0.688135 m/s,
      rangeRepo size: 4

2025-09-04T18:32:30.123Z,1757010750.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.831944 m,
      bearing: 164.117696 deg,
      lat: 36.779326 deg,
      lon: -121.859539 deg,
      deltaT: 3.778326 s,
      deltaX: -2.591854 m,
      approachRate: -0.685979 m/s,
      posRepo size: 4

2025-09-04T18:32:30.123Z,1757010750.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:30.130Z,1757010750.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 60.323738 m,
      bearing: 164.763701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034498 deg/s,
      cmd heading: 153.607867 deg,
      new cmd heading: 153.637582 deg.

2025-09-04T18:32:30.131Z,1757010750.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681482 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:30.296Z,1757010750.296 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:32:30.745Z,1757010750.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:30.748Z,1757010750.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 59.844032 m,
      bearing: 164.778083 deg,
      approach rate: -0.761706 m/s,
      LOS rate: 0.023019 deg/s,
      cmd heading: 153.637579 deg,
      new cmd heading: 153.666573 deg.

2025-09-04T18:32:30.749Z,1757010750.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681988 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:31.008Z,1757010751.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:31.010Z,1757010751.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:31.013Z,1757010751.013 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:31.013Z,1757010751.013 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:31.013Z,1757010751.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:31.017Z,1757010751.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 59.649647 m,
      bearing: 164.783938 deg,
      approach rate: -0.733021 m/s,
      LOS rate: 0.022152 deg/s,
      cmd heading: 153.666579 deg,
      new cmd heading: 153.678328 deg.

2025-09-04T18:32:31.018Z,1757010751.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682193 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:31.265Z,1757010751.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247802
2025-09-04T18:32:31.408Z,1757010751.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:31.411Z,1757010751.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 59.359928 m,
      bearing: 164.792705 deg,
      approach rate: -0.728522 m/s,
      LOS rate: 0.022153 deg/s,
      cmd heading: 153.678327 deg,
      new cmd heading: 153.695947 deg.

2025-09-04T18:32:31.412Z,1757010751.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682500 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:31.517Z,1757010751.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499787
2025-09-04T18:32:31.769Z,1757010751.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751724
2025-09-04T18:32:31.838Z,1757010751.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:31.841Z,1757010751.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 59.048534 m,
      bearing: 164.798607 deg,
      approach rate: -0.723900 m/s,
      LOS rate: 0.013794 deg/s,
      cmd heading: 153.695949 deg,
      new cmd heading: 153.707817 deg.

2025-09-04T18:32:31.842Z,1757010751.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682708 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:32.021Z,1757010752.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003832
2025-09-04T18:32:32.213Z,1757010752.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:32.215Z,1757010752.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 58.777443 m,
      bearing: 164.803836 deg,
      approach rate: -0.723916 m/s,
      LOS rate: 0.014026 deg/s,
      cmd heading: 153.707820 deg,
      new cmd heading: 153.718325 deg.

2025-09-04T18:32:32.217Z,1757010752.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682891 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:32.274Z,1757010752.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256562
2025-09-04T18:32:32.525Z,1757010752.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507943
2025-09-04T18:32:32.761Z,1757010752.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:32.777Z,1757010752.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759626
2025-09-04T18:32:32.800Z,1757010752.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 58.395157 m,
      bearing: 164.808355 deg,
      approach rate: -0.697034 m/s,
      LOS rate: 0.008294 deg/s,
      cmd heading: 153.718325 deg,
      new cmd heading: 153.727423 deg.

2025-09-04T18:32:32.801Z,1757010752.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683050 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:33.029Z,1757010753.029 [DAT](INFO): DAT read: Rx Time:18:32:31.6129

2025-09-04T18:32:33.030Z,1757010753.030 [DAT](INFO): Rx dataTimestamp_ set to:1757010753.029491
2025-09-04T18:32:33.030Z,1757010753.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013107
2025-09-04T18:32:33.160Z,1757010753.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:33.162Z,1757010753.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.83 m.
2025-09-04T18:32:33.169Z,1757010753.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.831944 m,
      nav range: 58.123112 m,
      bearing: 164.811457 deg,
      approach rate: -0.678341 m/s,
      LOS rate: 0.007771 deg/s,
      cmd heading: 153.727423 deg,
      new cmd heading: 153.733656 deg.

2025-09-04T18:32:33.170Z,1757010753.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683158 target range: 61.831944 and range: 62.10 m.
2025-09-04T18:32:33.281Z,1757010753.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263874
2025-09-04T18:32:33.539Z,1757010753.539 [DAT](INFO): DAT read: 18:32:31.6129 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.39, 2.565, 0.728, 2.342, 2.204, PHS= 0.463,-1.431, 0.094, RAW= 139.4,  10.1, CAL= 138.9,  11.0, ROT=  11.1, -11.0

2025-09-04T18:32:33.540Z,1757010753.540 [DAT](INFO): got valid direction response:
 18:32:31.6129 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409,-0.39, 2.565, 0.728, 2.342, 2.204, PHS= 0.463,-1.431, 0.094, RAW= 139.4,  10.1, CAL= 138.9,  11.0, ROT=  11.1, -11.0

2025-09-04T18:32:33.541Z,1757010753.541 [DAT](INFO): DAT read: Bearing 323.8,  12.0 (Local)

2025-09-04T18:32:33.541Z,1757010753.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.8,  12.0 (Local)

2025-09-04T18:32:33.543Z,1757010753.543 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m  (Round-trip  79.2 ms) speed  0.8 m/s

2025-09-04T18:32:33.543Z,1757010753.543 [DAT](INFO): DAT read: user:2840>

2025-09-04T18:32:33.544Z,1757010753.544 [DAT](INFO): DAT read: Tx time:18:32:32.7295

2025-09-04T18:32:33.544Z,1757010753.544 [DAT](INFO): Ping request sent.
2025-09-04T18:32:33.544Z,1757010753.544 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:33.545Z,1757010753.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:33.546Z,1757010753.546 [DAT](INFO): direction in FSK: [0.963264,0.188985,0.190809]
2025-09-04T18:32:33.546Z,1757010753.546 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:33.546Z,1757010753.546 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:33.550Z,1757010753.550 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:33.550Z,1757010753.550 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:33.709Z,1757010753.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 3.527901 s,
      deltaX: -2.699997 m,
      approachRate: -0.765327 m/s,
      rangeRepo size: 4

2025-09-04T18:32:33.711Z,1757010753.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.143700 m,
      bearing: 164.191214 deg,
      lat: 36.779327 deg,
      lon: -121.859532 deg,
      deltaT: 3.527901 s,
      deltaX: -2.688244 m,
      approachRate: -0.761995 m/s,
      posRepo size: 4

2025-09-04T18:32:33.720Z,1757010753.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:33.721Z,1757010753.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:33.724Z,1757010753.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 57.769253 m,
      bearing: 164.241836 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007771 deg/s,
      cmd heading: 153.733652 deg,
      new cmd heading: 153.742132 deg.

2025-09-04T18:32:33.729Z,1757010753.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683306 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:33.761Z,1757010753.761 [DockingStepper](INFO): Changing to mode: 2
2025-09-04T18:32:34.179Z,1757010754.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:34.179Z,1757010754.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:34.187Z,1757010754.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 57.392696 m,
      bearing: 164.244540 deg,
      approach rate: -0.799496 m/s,
      LOS rate: 0.005778 deg/s,
      cmd heading: 153.742135 deg,
      new cmd heading: 153.747578 deg.

2025-09-04T18:32:34.187Z,1757010754.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683401 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:34.599Z,1757010754.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:34.608Z,1757010754.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:34.611Z,1757010754.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 57.096825 m,
      bearing: 164.247139 deg,
      approach rate: -0.703659 m/s,
      LOS rate: 0.006213 deg/s,
      cmd heading: 153.747572 deg,
      new cmd heading: 153.752797 deg.

2025-09-04T18:32:34.624Z,1757010754.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683492 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:35.061Z,1757010755.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:35.062Z,1757010755.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:35.070Z,1757010755.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 56.759125 m,
      bearing: 164.257244 deg,
      approach rate: -0.731228 m/s,
      LOS rate: 0.022010 deg/s,
      cmd heading: 153.752790 deg,
      new cmd heading: 153.773120 deg.

2025-09-04T18:32:35.077Z,1757010755.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683847 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:35.417Z,1757010755.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:35.419Z,1757010755.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:35.420Z,1757010755.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:35.423Z,1757010755.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 56.494408 m,
      bearing: 164.265332 deg,
      approach rate: -0.739117 m/s,
      LOS rate: 0.022688 deg/s,
      cmd heading: 153.773117 deg,
      new cmd heading: 153.789368 deg.

2025-09-04T18:32:35.424Z,1757010755.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684131 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:35.549Z,1757010755.549 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:35.549Z,1757010755.549 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:35.549Z,1757010755.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:35.801Z,1757010755.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256512
2025-09-04T18:32:35.858Z,1757010755.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:35.859Z,1757010755.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:35.866Z,1757010755.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 56.178905 m,
      bearing: 164.274684 deg,
      approach rate: -0.719115 m/s,
      LOS rate: 0.021437 deg/s,
      cmd heading: 153.789373 deg,
      new cmd heading: 153.808183 deg.

2025-09-04T18:32:35.867Z,1757010755.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684459 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:36.054Z,1757010756.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509028
2025-09-04T18:32:36.223Z,1757010756.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:36.223Z,1757010756.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:36.226Z,1757010756.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 55.911442 m,
      bearing: 164.282603 deg,
      approach rate: -0.733740 m/s,
      LOS rate: 0.021829 deg/s,
      cmd heading: 153.808183 deg,
      new cmd heading: 153.824097 deg.

2025-09-04T18:32:36.227Z,1757010756.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684737 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:36.306Z,1757010756.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761927
2025-09-04T18:32:36.558Z,1757010756.558 [DAT](INFO): DAT read: Rx Time:18:32:35.2093

2025-09-04T18:32:36.559Z,1757010756.559 [DAT](INFO): Rx dataTimestamp_ set to:1757010756.558261
2025-09-04T18:32:36.559Z,1757010756.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014666
2025-09-04T18:32:36.674Z,1757010756.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:36.674Z,1757010756.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:36.682Z,1757010756.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 55.596973 m,
      bearing: 164.292043 deg,
      approach rate: -0.696852 m/s,
      LOS rate: 0.021037 deg/s,
      cmd heading: 153.824097 deg,
      new cmd heading: 153.843084 deg.

2025-09-04T18:32:36.683Z,1757010756.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685068 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:36.810Z,1757010756.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264932
2025-09-04T18:32:37.089Z,1757010757.089 [DAT](INFO): DAT read: 18:32:35.2093 LVL= 25152, 32753, 29858, 32755, AGC= 64, IDX= 405,-0.48, 2.282, 0.389, 1.982, 1.847, PHS= 0.537,-1.413, 0.091, RAW= 137.4,   8.9, CAL= 137.1,   9.9, ROT=  12.9,  -9.9

2025-09-04T18:32:37.091Z,1757010757.091 [DAT](INFO): got valid direction response:
 18:32:35.2093 LVL= 25152, 32753, 29858, 32755, AGC= 64, IDX= 405,-0.48, 2.282, 0.389, 1.982, 1.847, PHS= 0.537,-1.413, 0.091, RAW= 137.4,   8.9, CAL= 137.1,   9.9, ROT=  12.9,  -9.9

2025-09-04T18:32:37.092Z,1757010757.092 [DAT](INFO): DAT read: $Error in header

2025-09-04T18:32:37.096Z,1757010757.096 [DAT](INFO): Received a bad header
2025-09-04T18:32:37.110Z,1757010757.110 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:32:37.111Z,1757010757.111 [DAT](INFO): direction in FSK: [0.960246,0.219926,0.171929]
2025-09-04T18:32:37.126Z,1757010757.126 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:37.126Z,1757010757.126 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:37.126Z,1757010757.126 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:37.184Z,1757010757.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:37.185Z,1757010757.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:37.188Z,1757010757.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 55.228714 m,
      bearing: 164.309539 deg,
      approach rate: -0.727445 m/s,
      LOS rate: 0.034791 deg/s,
      cmd heading: 153.843085 deg,
      new cmd heading: 153.878310 deg.

2025-09-04T18:32:37.193Z,1757010757.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685683 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:37.313Z,1757010757.313 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:37.313Z,1757010757.313 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:37.313Z,1757010757.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:37.531Z,1757010757.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:37.533Z,1757010757.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:37.534Z,1757010757.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:37.537Z,1757010757.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 54.971096 m,
      bearing: 164.321769 deg,
      approach rate: -0.729096 m/s,
      LOS rate: 0.034775 deg/s,
      cmd heading: 153.878315 deg,
      new cmd heading: 153.902890 deg.

2025-09-04T18:32:37.538Z,1757010757.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686112 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:37.566Z,1757010757.566 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:37.567Z,1757010757.567 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:37.567Z,1757010757.567 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:37.817Z,1757010757.817 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:37.817Z,1757010757.817 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:37.817Z,1757010757.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:37.958Z,1757010757.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:37.959Z,1757010757.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:37.962Z,1757010757.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 54.664043 m,
      bearing: 164.339895 deg,
      approach rate: -0.722477 m/s,
      LOS rate: 0.042888 deg/s,
      cmd heading: 153.902890 deg,
      new cmd heading: 153.939345 deg.

2025-09-04T18:32:37.963Z,1757010757.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686749 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:38.069Z,1757010758.069 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:38.069Z,1757010758.069 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:38.069Z,1757010758.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:38.321Z,1757010758.321 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:38.321Z,1757010758.321 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:38.321Z,1757010758.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:38.335Z,1757010758.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:38.335Z,1757010758.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:38.338Z,1757010758.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 54.392941 m,
      bearing: 164.355802 deg,
      approach rate: -0.721556 m/s,
      LOS rate: 0.042551 deg/s,
      cmd heading: 153.939350 deg,
      new cmd heading: 153.971324 deg.

2025-09-04T18:32:38.339Z,1757010758.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687307 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:38.574Z,1757010758.574 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:38.574Z,1757010758.574 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:38.574Z,1757010758.574 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:38.813Z,1757010758.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:38.813Z,1757010758.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:38.817Z,1757010758.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 54.047554 m,
      bearing: 164.375884 deg,
      approach rate: -0.722570 m/s,
      LOS rate: 0.042280 deg/s,
      cmd heading: 153.971329 deg,
      new cmd heading: 154.011749 deg.

2025-09-04T18:32:38.818Z,1757010758.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688012 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:38.833Z,1757010758.833 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:38.833Z,1757010758.833 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:38.833Z,1757010758.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:39.087Z,1757010759.087 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:39.087Z,1757010759.087 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:39.087Z,1757010759.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:39.159Z,1757010759.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:39.159Z,1757010759.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:39.166Z,1757010759.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 53.803047 m,
      bearing: 164.389923 deg,
      approach rate: -0.705611 m/s,
      LOS rate: 0.040699 deg/s,
      cmd heading: 154.011750 deg,
      new cmd heading: 154.039955 deg.

2025-09-04T18:32:39.167Z,1757010759.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688504 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:39.337Z,1757010759.337 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:39.337Z,1757010759.337 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:39.337Z,1757010759.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:39.546Z,1757010759.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:39.550Z,1757010759.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:39.552Z,1757010759.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-09-04T18:32:39.555Z,1757010759.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 59.40 m.
2025-09-04T18:32:39.555Z,1757010759.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-09-04T18:32:39.567Z,1757010759.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 53.516056 m,
      bearing: 164.406106 deg,
      approach rate: -0.733993 m/s,
      LOS rate: 0.041611 deg/s,
      cmd heading: 154.039959 deg,
      new cmd heading: 154.072498 deg.

2025-09-04T18:32:39.571Z,1757010759.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689072 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:39.589Z,1757010759.589 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:39.590Z,1757010759.590 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:39.590Z,1757010759.590 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:39.631Z,1757010759.631 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-09-04T18:32:39.631Z,1757010759.631 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-09-04T18:32:39.842Z,1757010759.842 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:39.842Z,1757010759.842 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:39.842Z,1757010759.842 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:40.005Z,1757010760.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:40.007Z,1757010760.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 53.203712 m,
      bearing: 164.421044 deg,
      approach rate: -0.686558 m/s,
      LOS rate: 0.033028 deg/s,
      cmd heading: 154.072498 deg,
      new cmd heading: 154.102549 deg.

2025-09-04T18:32:40.013Z,1757010760.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689597 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:40.096Z,1757010760.096 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:40.096Z,1757010760.096 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:40.096Z,1757010760.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:40.349Z,1757010760.349 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:40.349Z,1757010760.349 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:40.349Z,1757010760.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:40.354Z,1757010760.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:40.373Z,1757010760.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 52.945679 m,
      bearing: 164.431723 deg,
      approach rate: -0.739233 m/s,
      LOS rate: 0.030743 deg/s,
      cmd heading: 154.102550 deg,
      new cmd heading: 154.124013 deg.

2025-09-04T18:32:40.374Z,1757010760.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689971 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:40.601Z,1757010760.601 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:40.601Z,1757010760.601 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:40.601Z,1757010760.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:40.826Z,1757010760.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:40.833Z,1757010760.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 52.642529 m,
      bearing: 164.443510 deg,
      approach rate: -0.642180 m/s,
      LOS rate: 0.025112 deg/s,
      cmd heading: 154.124011 deg,
      new cmd heading: 154.147720 deg.

2025-09-04T18:32:40.834Z,1757010760.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690385 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:40.853Z,1757010760.853 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:40.853Z,1757010760.853 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:40.853Z,1757010760.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:41.105Z,1757010761.105 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:41.105Z,1757010761.105 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:41.105Z,1757010761.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:41.189Z,1757010761.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:41.193Z,1757010761.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 52.347301 m,
      bearing: 164.453938 deg,
      approach rate: -0.812478 m/s,
      LOS rate: 0.028860 deg/s,
      cmd heading: 154.147725 deg,
      new cmd heading: 154.168699 deg.

2025-09-04T18:32:41.194Z,1757010761.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690751 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:41.358Z,1757010761.358 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:41.359Z,1757010761.359 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:41.359Z,1757010761.359 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:41.569Z,1757010761.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:41.572Z,1757010761.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:41.578Z,1757010761.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 52.075314 m,
      bearing: 164.463007 deg,
      approach rate: -0.709920 m/s,
      LOS rate: 0.023795 deg/s,
      cmd heading: 154.168694 deg,
      new cmd heading: 154.186927 deg.

2025-09-04T18:32:41.580Z,1757010761.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691070 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:41.609Z,1757010761.609 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:41.609Z,1757010761.609 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:41.609Z,1757010761.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:41.861Z,1757010761.861 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:41.861Z,1757010761.861 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:41.861Z,1757010761.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:41.997Z,1757010761.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:41.000Z,1757010762.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 51.765770 m,
      bearing: 164.465734 deg,
      approach rate: -0.728904 m/s,
      LOS rate: 0.006460 deg/s,
      cmd heading: 154.186931 deg,
      new cmd heading: 154.192417 deg.

2025-09-04T18:32:42.001Z,1757010762.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691165 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:42.113Z,1757010762.113 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:42.113Z,1757010762.113 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:42.113Z,1757010762.113 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:42.365Z,1757010762.365 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:42.365Z,1757010762.365 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:42.365Z,1757010762.365 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:42.378Z,1757010762.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:42.381Z,1757010762.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 51.492958 m,
      bearing: 164.467493 deg,
      approach rate: -0.716644 m/s,
      LOS rate: 0.004646 deg/s,
      cmd heading: 154.192422 deg,
      new cmd heading: 154.195959 deg.

2025-09-04T18:32:42.382Z,1757010762.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691227 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:42.617Z,1757010762.617 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:42.617Z,1757010762.617 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:42.617Z,1757010762.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:42.848Z,1757010762.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:42.851Z,1757010762.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 51.191647 m,
      bearing: 164.468734 deg,
      approach rate: -0.645965 m/s,
      LOS rate: 0.002676 deg/s,
      cmd heading: 154.195960 deg,
      new cmd heading: 154.198457 deg.

2025-09-04T18:32:42.856Z,1757010762.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691271 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:42.869Z,1757010762.869 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:42.869Z,1757010762.869 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:42.869Z,1757010762.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:43.121Z,1757010763.121 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:43.121Z,1757010763.121 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:43.121Z,1757010763.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:43.228Z,1757010763.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:43.231Z,1757010763.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 50.887325 m,
      bearing: 164.473737 deg,
      approach rate: -0.792450 m/s,
      LOS rate: 0.013106 deg/s,
      cmd heading: 154.198460 deg,
      new cmd heading: 154.208526 deg.

2025-09-04T18:32:43.233Z,1757010763.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691447 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:43.373Z,1757010763.373 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:43.373Z,1757010763.373 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:43.373Z,1757010763.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-04T18:32:43.625Z,1757010763.625 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:43.625Z,1757010763.625 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:43.625Z,1757010763.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:43.631Z,1757010763.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:43.661Z,1757010763.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:43.672Z,1757010763.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 50.601139 m,
      bearing: 164.478497 deg,
      approach rate: -0.660847 m/s,
      LOS rate: 0.011053 deg/s,
      cmd heading: 154.208528 deg,
      new cmd heading: 154.218101 deg.

2025-09-04T18:32:43.673Z,1757010763.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691614 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:43.880Z,1757010763.880 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:43.880Z,1757010763.880 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:43.882Z,1757010763.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:44.031Z,1757010764.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:44.034Z,1757010764.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 50.313114 m,
      bearing: 164.470073 deg,
      approach rate: -0.778913 m/s,
      LOS rate: -0.022911 deg/s,
      cmd heading: 154.218104 deg,
      new cmd heading: 154.201160 deg.

2025-09-04T18:32:44.035Z,1757010764.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691318 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:44.129Z,1757010764.129 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:44.130Z,1757010764.130 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:44.130Z,1757010764.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:44.381Z,1757010764.381 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:44.381Z,1757010764.381 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:44.381Z,1757010764.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:44.409Z,1757010764.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:44.412Z,1757010764.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 50.042427 m,
      bearing: 164.461509 deg,
      approach rate: -0.716562 m/s,
      LOS rate: -0.022794 deg/s,
      cmd heading: 154.201165 deg,
      new cmd heading: 154.183944 deg.

2025-09-04T18:32:44.429Z,1757010764.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691017 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:44.633Z,1757010764.633 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:44.633Z,1757010764.633 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:44.633Z,1757010764.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:44.880Z,1757010764.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:44.885Z,1757010764.885 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:44.885Z,1757010764.885 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:44.885Z,1757010764.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:44.898Z,1757010764.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 49.733418 m,
      bearing: 164.451148 deg,
      approach rate: -0.656201 m/s,
      LOS rate: -0.022138 deg/s,
      cmd heading: 154.183939 deg,
      new cmd heading: 154.163089 deg.

2025-09-04T18:32:44.899Z,1757010764.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690654 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:45.137Z,1757010765.137 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:45.137Z,1757010765.137 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:45.137Z,1757010765.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:45.242Z,1757010765.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:45.245Z,1757010765.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 49.448635 m,
      bearing: 164.438780 deg,
      approach rate: -0.784922 m/s,
      LOS rate: -0.034288 deg/s,
      cmd heading: 154.163093 deg,
      new cmd heading: 154.138213 deg.

2025-09-04T18:32:45.246Z,1757010765.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690219 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:45.389Z,1757010765.389 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:45.389Z,1757010765.389 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:45.390Z,1757010765.390 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:45.628Z,1757010765.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:45.631Z,1757010765.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 49.175903 m,
      bearing: 164.426591 deg,
      approach rate: -0.707529 m/s,
      LOS rate: -0.031794 deg/s,
      cmd heading: 154.138218 deg,
      new cmd heading: 154.113706 deg.

2025-09-04T18:32:45.632Z,1757010765.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689792 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:45.641Z,1757010765.641 [DAT](INFO): Reached modem response timeout
2025-09-04T18:32:45.641Z,1757010765.641 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:32:45.641Z,1757010765.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:45.893Z,1757010765.893 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:32:45.894Z,1757010765.894 [DAT](INFO): response not received
2025-09-04T18:32:45.894Z,1757010765.894 [DAT](INFO): DAT read: user:2842>

2025-09-04T18:32:45.895Z,1757010765.895 [DAT](INFO): DAT read: Tx time:18:32:45.1794

2025-09-04T18:32:45.895Z,1757010765.895 [DAT](INFO): Ping request sent.
2025-09-04T18:32:45.895Z,1757010765.895 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:45.895Z,1757010765.895 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:45.896Z,1757010765.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000870
2025-09-04T18:32:46.127Z,1757010766.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:46.130Z,1757010766.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:46.133Z,1757010766.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 48.838753 m,
      bearing: 164.405697 deg,
      approach rate: -0.671794 m/s,
      LOS rate: -0.041920 deg/s,
      cmd heading: 154.113711 deg,
      new cmd heading: 154.071635 deg.

2025-09-04T18:32:46.134Z,1757010766.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689057 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:46.145Z,1757010766.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249961
2025-09-04T18:32:46.397Z,1757010766.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501967
2025-09-04T18:32:46.503Z,1757010766.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:46.507Z,1757010766.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 48.584591 m,
      bearing: 164.389450 deg,
      approach rate: -0.680613 m/s,
      LOS rate: -0.043736 deg/s,
      cmd heading: 154.071637 deg,
      new cmd heading: 154.038972 deg.

2025-09-04T18:32:46.528Z,1757010766.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688487 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:46.650Z,1757010766.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754373
2025-09-04T18:32:46.904Z,1757010766.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008414
2025-09-04T18:32:46.992Z,1757010766.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:46.995Z,1757010766.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 48.247478 m,
      bearing: 164.372539 deg,
      approach rate: -0.695299 m/s,
      LOS rate: -0.035123 deg/s,
      cmd heading: 154.038975 deg,
      new cmd heading: 154.004917 deg.

2025-09-04T18:32:47.000Z,1757010767.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687893 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:47.157Z,1757010767.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261817
2025-09-04T18:32:47.346Z,1757010767.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:47.349Z,1757010767.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 47.996014 m,
      bearing: 164.359507 deg,
      approach rate: -0.701679 m/s,
      LOS rate: -0.036555 deg/s,
      cmd heading: 154.004920 deg,
      new cmd heading: 153.978719 deg.

2025-09-04T18:32:47.350Z,1757010767.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687436 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:47.410Z,1757010767.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514459
2025-09-04T18:32:47.661Z,1757010767.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765888
2025-09-04T18:32:47.736Z,1757010767.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:47.739Z,1757010767.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 47.724911 m,
      bearing: 164.344954 deg,
      approach rate: -0.695994 m/s,
      LOS rate: -0.037572 deg/s,
      cmd heading: 153.978719 deg,
      new cmd heading: 153.949449 deg.

2025-09-04T18:32:47.740Z,1757010767.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686925 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:47.913Z,1757010767.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018052
2025-09-04T18:32:48.170Z,1757010768.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273585
2025-09-04T18:32:48.174Z,1757010768.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:48.176Z,1757010768.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:48.179Z,1757010768.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 47.416477 m,
      bearing: 164.332832 deg,
      approach rate: -0.701234 m/s,
      LOS rate: -0.027739 deg/s,
      cmd heading: 153.949445 deg,
      new cmd heading: 153.925043 deg.

2025-09-04T18:32:48.180Z,1757010768.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686499 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:48.418Z,1757010768.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522635
2025-09-04T18:32:48.541Z,1757010768.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:48.547Z,1757010768.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 47.152550 m,
      bearing: 164.322024 deg,
      approach rate: -0.725223 m/s,
      LOS rate: -0.029866 deg/s,
      cmd heading: 153.925048 deg,
      new cmd heading: 153.903310 deg.

2025-09-04T18:32:48.549Z,1757010768.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686120 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:48.670Z,1757010768.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774276
2025-09-04T18:32:48.924Z,1757010768.924 [DAT](INFO): DAT read: Rx Time:18:32:47.6474

2025-09-04T18:32:48.926Z,1757010768.926 [DAT](INFO): Rx dataTimestamp_ set to:1757010768.925107
2025-09-04T18:32:48.928Z,1757010768.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032553
2025-09-04T18:32:48.995Z,1757010768.995 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,
2025-09-04T18:32:49.011Z,1757010769.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:49.014Z,1757010769.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 46.816605 m,
      bearing: 164.307058 deg,
      approach rate: -0.712804 m/s,
      LOS rate: -0.031982 deg/s,
      cmd heading: 153.903314 deg,
      new cmd heading: 153.873168 deg.

2025-09-04T18:32:49.015Z,1757010769.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685593 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:49.173Z,1757010769.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278139
2025-09-04T18:32:49.382Z,1757010769.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.14 m.
2025-09-04T18:32:49.389Z,1757010769.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.143700 m,
      nav range: 46.566826 m,
      bearing: 164.295791 deg,
      approach rate: -0.673614 m/s,
      LOS rate: -0.030548 deg/s,
      cmd heading: 153.873165 deg,
      new cmd heading: 153.850510 deg.

2025-09-04T18:32:49.390Z,1757010769.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685198 target range: 59.143700 and range: 59.40 m.
2025-09-04T18:32:49.429Z,1757010769.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533387
2025-09-04T18:32:49.686Z,1757010769.686 [DAT](INFO): DAT read: 18:32:47.6474 LVL= 26480, 32753, 28914, 32755, AGC= 69, IDX= 316,-0.31,-1.039,-2.810,-1.301,-1.455, PHS= 0.518,-1.310, 0.109, RAW= 137.7,   8.3, CAL= 137.4,   9.2, ROT=  12.6,  -9.2

2025-09-04T18:32:49.687Z,1757010769.687 [DAT](INFO): got valid direction response:
 18:32:47.6474 LVL= 26480, 32753, 28914, 32755, AGC= 69, IDX= 316,-0.31,-1.039,-2.810,-1.301,-1.455, PHS= 0.518,-1.310, 0.109, RAW= 137.7,   8.3, CAL= 137.4,   9.2, ROT=  12.6,  -9.2

2025-09-04T18:32:49.696Z,1757010769.696 [DAT](INFO): DAT read: Bearing 324.6,  11.5 (Local)

2025-09-04T18:32:49.696Z,1757010769.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.6,  11.5 (Local)

2025-09-04T18:32:49.697Z,1757010769.697 [DAT](INFO): DAT read: Range 11 to 50 : 47.9 m  (Round-trip  63.9 ms) speed  0.6 m/s

2025-09-04T18:32:49.698Z,1757010769.698 [DAT](INFO): DAT read: user:2843>

2025-09-04T18:32:49.699Z,1757010769.699 [DAT](INFO): DAT read: Tx time:18:32:48.7793

2025-09-04T18:32:49.699Z,1757010769.699 [DAT](INFO): Ping request sent.
2025-09-04T18:32:49.699Z,1757010769.699 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:49.700Z,1757010769.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:49.702Z,1757010769.702 [DAT](INFO): direction in FSK: [0.963363,0.215337,0.159881]
2025-09-04T18:32:49.702Z,1757010769.702 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:49.702Z,1757010769.702 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:49.705Z,1757010769.705 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:49.706Z,1757010769.706 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:49.824Z,1757010769.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.900002 m,
      deltaT: 16.146333 s,
      deltaX: -11.500000 m,
      approachRate: -0.712236 m/s,
      rangeRepo size: 4

2025-09-04T18:32:49.826Z,1757010769.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.693550 m,
      bearing: 168.324216 deg,
      lat: 36.779325 deg,
      lon: -121.859532 deg,
      deltaT: 16.146333 s,
      deltaX: -11.450150 m,
      approachRate: -0.709149 m/s,
      posRepo size: 4

2025-09-04T18:32:49.827Z,1757010769.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:49.839Z,1757010769.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 46.533764 m,
      bearing: 164.376378 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030548 deg/s,
      cmd heading: 153.850516 deg,
      new cmd heading: 153.823782 deg.

2025-09-04T18:32:49.849Z,1757010769.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684731 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:50.224Z,1757010770.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:50.226Z,1757010770.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:50.241Z,1757010770.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 46.223499 m,
      bearing: 164.374323 deg,
      approach rate: -0.763011 m/s,
      LOS rate: -0.005086 deg/s,
      cmd heading: 153.823783 deg,
      new cmd heading: 153.819647 deg.

2025-09-04T18:32:50.242Z,1757010770.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684659 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:50.433Z,1757010770.433 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:50.433Z,1757010770.433 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:50.434Z,1757010770.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:50.622Z,1757010770.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:50.625Z,1757010770.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 45.939968 m,
      bearing: 164.372422 deg,
      approach rate: -0.716409 m/s,
      LOS rate: -0.004835 deg/s,
      cmd heading: 153.819644 deg,
      new cmd heading: 153.815817 deg.

2025-09-04T18:32:50.626Z,1757010770.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684592 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:50.685Z,1757010770.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986005
2025-09-04T18:32:50.940Z,1757010770.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240357
2025-09-04T18:32:51.049Z,1757010771.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:51.054Z,1757010771.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 45.641518 m,
      bearing: 164.366387 deg,
      approach rate: -0.699755 m/s,
      LOS rate: -0.014241 deg/s,
      cmd heading: 153.815819 deg,
      new cmd heading: 153.803671 deg.

2025-09-04T18:32:51.057Z,1757010771.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684381 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:51.189Z,1757010771.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489964
2025-09-04T18:32:51.441Z,1757010771.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741813
2025-09-04T18:32:51.451Z,1757010771.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:51.455Z,1757010771.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 45.350178 m,
      bearing: 164.360167 deg,
      approach rate: -0.722485 m/s,
      LOS rate: -0.015525 deg/s,
      cmd heading: 153.803675 deg,
      new cmd heading: 153.791154 deg.

2025-09-04T18:32:51.456Z,1757010771.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684162 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:51.695Z,1757010771.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995889
2025-09-04T18:32:51.830Z,1757010771.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:51.833Z,1757010771.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 45.081905 m,
      bearing: 164.354163 deg,
      approach rate: -0.707901 m/s,
      LOS rate: -0.015935 deg/s,
      cmd heading: 153.791148 deg,
      new cmd heading: 153.779070 deg.

2025-09-04T18:32:51.834Z,1757010771.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683951 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:51.948Z,1757010771.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248069
2025-09-04T18:32:52.197Z,1757010772.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497641
2025-09-04T18:32:52.266Z,1757010772.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:52.273Z,1757010772.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:52.285Z,1757010772.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 44.784569 m,
      bearing: 164.351276 deg,
      approach rate: -0.671592 m/s,
      LOS rate: -0.006565 deg/s,
      cmd heading: 153.779073 deg,
      new cmd heading: 153.773259 deg.

2025-09-04T18:32:52.286Z,1757010772.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683850 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:52.449Z,1757010772.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749680
2025-09-04T18:32:52.638Z,1757010772.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:52.642Z,1757010772.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 44.523827 m,
      bearing: 164.348487 deg,
      approach rate: -0.714415 m/s,
      LOS rate: -0.007685 deg/s,
      cmd heading: 153.773253 deg,
      new cmd heading: 153.767644 deg.

2025-09-04T18:32:52.643Z,1757010772.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683752 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:52.702Z,1757010772.702 [DAT](INFO): DAT read: Rx Time:18:32:51.2441

2025-09-04T18:32:52.703Z,1757010772.703 [DAT](INFO): Rx dataTimestamp_ set to:1757010772.702294
2025-09-04T18:32:52.703Z,1757010772.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003832
2025-09-04T18:32:52.959Z,1757010772.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258798
2025-09-04T18:32:53.103Z,1757010773.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.69 m.
2025-09-04T18:32:53.106Z,1757010773.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.693550 m,
      nav range: 44.198467 m,
      bearing: 164.349469 deg,
      approach rate: -0.699398 m/s,
      LOS rate: 0.002125 deg/s,
      cmd heading: 153.767639 deg,
      new cmd heading: 153.769616 deg.

2025-09-04T18:32:53.107Z,1757010773.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683786 target range: 47.693550 and range: 47.90 m.
2025-09-04T18:32:53.215Z,1757010773.215 [DAT](INFO): DAT read: 18:32:51.2441 LVL= 25120, 32753, 27730, 32755, AGC= 70, IDX= 410,-0.21,-3.065, 1.326, 2.927, 2.826, PHS= 0.495,-1.455, 0.058, RAW= 137.7,  10.2, CAL= 137.2,  11.2, ROT=  12.8, -11.2

2025-09-04T18:32:53.217Z,1757010773.217 [DAT](INFO): got valid direction response:
 18:32:51.2441 LVL= 25120, 32753, 27730, 32755, AGC= 70, IDX= 410,-0.21,-3.065, 1.326, 2.927, 2.826, PHS= 0.495,-1.455, 0.058, RAW= 137.7,  10.2, CAL= 137.2,  11.2, ROT=  12.8, -11.2

2025-09-04T18:32:53.218Z,1757010773.218 [DAT](INFO): DAT read: Bearing 327.0,  11.2 (Local)

2025-09-04T18:32:53.218Z,1757010773.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.0,  11.2 (Local)

2025-09-04T18:32:53.226Z,1757010773.226 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m  (Round-trip  60.6 ms) speed  0.6 m/s

2025-09-04T18:32:53.236Z,1757010773.236 [DAT](INFO): DAT read: user:2844>

2025-09-04T18:32:53.237Z,1757010773.237 [DAT](INFO): DAT read: Tx time:18:32:52.3293

2025-09-04T18:32:53.237Z,1757010773.237 [DAT](INFO): Ping request sent.
2025-09-04T18:32:53.238Z,1757010773.238 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:53.238Z,1757010773.238 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:53.240Z,1757010773.240 [DAT](INFO): direction in FSK: [0.956578,0.217329,0.194234]
2025-09-04T18:32:53.248Z,1757010773.248 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:53.249Z,1757010773.249 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:53.256Z,1757010773.256 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:53.256Z,1757010773.256 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:53.572Z,1757010773.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.400002 m,
      deltaT: 3.526704 s,
      deltaX: -2.500000 m,
      approachRate: -0.708877 m/s,
      rangeRepo size: 4

2025-09-04T18:32:53.574Z,1757010773.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.204395 m,
      bearing: 169.198741 deg,
      lat: 36.779325 deg,
      lon: -121.859532 deg,
      deltaT: 3.526704 s,
      deltaX: -2.489155 m,
      approachRate: -0.705802 m/s,
      posRepo size: 4

2025-09-04T18:32:53.575Z,1757010773.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:53.586Z,1757010773.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 43.931713 m,
      bearing: 164.350003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002125 deg/s,
      cmd heading: 153.769620 deg,
      new cmd heading: 153.771543 deg.

2025-09-04T18:32:53.587Z,1757010773.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683820 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:53.869Z,1757010773.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:53.872Z,1757010773.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 43.663746 m,
      bearing: 164.350391 deg,
      approach rate: -0.855336 m/s,
      LOS rate: 0.001246 deg/s,
      cmd heading: 153.771546 deg,
      new cmd heading: 153.772327 deg.

2025-09-04T18:32:53.873Z,1757010773.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683833 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:54.395Z,1757010774.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:54.397Z,1757010774.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:54.400Z,1757010774.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 43.299603 m,
      bearing: 164.339220 deg,
      approach rate: -0.689693 m/s,
      LOS rate: -0.021335 deg/s,
      cmd heading: 153.772324 deg,
      new cmd heading: 153.749795 deg.

2025-09-04T18:32:54.401Z,1757010774.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683440 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:54.466Z,1757010774.466 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:54.466Z,1757010774.466 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:54.466Z,1757010774.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:54.717Z,1757010774.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479549
2025-09-04T18:32:54.734Z,1757010774.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:54.789Z,1757010774.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 43.066330 m,
      bearing: 164.331934 deg,
      approach rate: -0.691377 m/s,
      LOS rate: -0.021712 deg/s,
      cmd heading: 153.749799 deg,
      new cmd heading: 153.735147 deg.

2025-09-04T18:32:54.790Z,1757010774.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683184 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:54.973Z,1757010774.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734195
2025-09-04T18:32:55.221Z,1757010775.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983811
2025-09-04T18:32:55.304Z,1757010775.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:55.307Z,1757010775.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 42.680012 m,
      bearing: 164.315111 deg,
      approach rate: -0.678314 m/s,
      LOS rate: -0.029807 deg/s,
      cmd heading: 153.735141 deg,
      new cmd heading: 153.701189 deg.

2025-09-04T18:32:55.308Z,1757010775.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682592 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:55.474Z,1757010775.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236400
2025-09-04T18:32:55.671Z,1757010775.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:55.674Z,1757010775.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 42.431274 m,
      bearing: 164.304011 deg,
      approach rate: -0.677589 m/s,
      LOS rate: -0.030414 deg/s,
      cmd heading: 153.701195 deg,
      new cmd heading: 153.678865 deg.

2025-09-04T18:32:55.675Z,1757010775.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682202 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:55.726Z,1757010775.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488096
2025-09-04T18:32:55.979Z,1757010775.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741053
2025-09-04T18:32:56.113Z,1757010776.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:56.116Z,1757010776.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 42.129917 m,
      bearing: 164.281255 deg,
      approach rate: -0.681702 m/s,
      LOS rate: -0.051844 deg/s,
      cmd heading: 153.678860 deg,
      new cmd heading: 153.633024 deg.

2025-09-04T18:32:56.117Z,1757010776.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681402 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:56.229Z,1757010776.229 [DAT](INFO): DAT read: Rx Time:18:32:54.7908

2025-09-04T18:32:56.230Z,1757010776.230 [DAT](INFO): Rx dataTimestamp_ set to:1757010776.229360
2025-09-04T18:32:56.230Z,1757010776.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992566
2025-09-04T18:32:56.482Z,1757010776.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243803
2025-09-04T18:32:56.521Z,1757010776.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:56.523Z,1757010776.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.20 m.
2025-09-04T18:32:56.537Z,1757010776.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.204395 m,
      nav range: 41.858753 m,
      bearing: 164.260517 deg,
      approach rate: -0.661474 m/s,
      LOS rate: -0.050915 deg/s,
      cmd heading: 153.633030 deg,
      new cmd heading: 153.591285 deg.

2025-09-04T18:32:56.539Z,1757010776.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680674 target range: 45.204395 and range: 45.40 m.
2025-09-04T18:32:56.739Z,1757010776.739 [DAT](INFO): DAT read: 18:32:54.7908 LVL= 26416, 32753, 28562, 32755, AGC= 67, IDX= 408,-0.32,-2.509, 2.008,-2.757,-2.917, PHS= 0.510,-1.313, 0.116, RAW= 138.1,   8.3, CAL= 137.8,   9.3, ROT=  12.2,  -9.3

2025-09-04T18:32:56.740Z,1757010776.740 [DAT](INFO): got valid direction response:
 18:32:54.7908 LVL= 26416, 32753, 28562, 32755, AGC= 67, IDX= 408,-0.32,-2.509, 2.008,-2.757,-2.917, PHS= 0.510,-1.313, 0.116, RAW= 138.1,   8.3, CAL= 137.8,   9.3, ROT=  12.2,  -9.3

2025-09-04T18:32:56.741Z,1757010776.741 [DAT](INFO): DAT read: Bearing 325.2,  10.4 (Local)

2025-09-04T18:32:56.741Z,1757010776.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.2,  10.4 (Local)

2025-09-04T18:32:56.743Z,1757010776.743 [DAT](INFO): DAT read: Range 11 to 50 : 42.9 m  (Round-trip  57.3 ms) speed  0.6 m/s

2025-09-04T18:32:56.743Z,1757010776.743 [DAT](INFO): DAT read: user:2845>

2025-09-04T18:32:56.748Z,1757010776.748 [DAT](INFO): DAT read: Tx time:18:32:55.8793

2025-09-04T18:32:56.749Z,1757010776.749 [DAT](INFO): Ping request sent.
2025-09-04T18:32:56.749Z,1757010776.749 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:32:56.749Z,1757010776.749 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:32:56.750Z,1757010776.750 [DAT](INFO): direction in FSK: [0.964568,0.208547,0.161604]
2025-09-04T18:32:56.750Z,1757010776.750 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:56.750Z,1757010776.750 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:56.758Z,1757010776.758 [DAT](INFO): publishing transmit ping time
2025-09-04T18:32:56.758Z,1757010776.758 [DAT](INFO): publishing direction and range info
2025-09-04T18:32:56.938Z,1757010776.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.900002 m,
      deltaT: 3.526996 s,
      deltaX: -2.500000 m,
      approachRate: -0.708818 m/s,
      rangeRepo size: 4

2025-09-04T18:32:56.949Z,1757010776.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.715046 m,
      bearing: 168.640595 deg,
      lat: 36.779312 deg,
      lon: -121.859566 deg,
      deltaT: 3.526996 s,
      deltaX: -2.489349 m,
      approachRate: -0.705799 m/s,
      posRepo size: 4

2025-09-04T18:32:56.949Z,1757010776.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:56.960Z,1757010776.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 42.233177 m,
      bearing: 168.621329 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050915 deg/s,
      cmd heading: 153.591283 deg,
      new cmd heading: 153.549047 deg.

2025-09-04T18:32:56.975Z,1757010776.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679936 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:57.354Z,1757010777.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:57.357Z,1757010777.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 41.929871 m,
      bearing: 168.627368 deg,
      approach rate: -0.729194 m/s,
      LOS rate: 0.014623 deg/s,
      cmd heading: 153.549046 deg,
      new cmd heading: 153.561210 deg.

2025-09-04T18:32:57.358Z,1757010777.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680149 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:57.708Z,1757010777.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:57.711Z,1757010777.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 41.688213 m,
      bearing: 168.632278 deg,
      approach rate: -0.683020 m/s,
      LOS rate: 0.013958 deg/s,
      cmd heading: 153.561217 deg,
      new cmd heading: 153.571094 deg.

2025-09-04T18:32:57.716Z,1757010777.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680321 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:58.141Z,1757010778.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:58.144Z,1757010778.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 41.398727 m,
      bearing: 168.630572 deg,
      approach rate: -0.668266 m/s,
      LOS rate: -0.003965 deg/s,
      cmd heading: 153.571093 deg,
      new cmd heading: 153.567658 deg.

2025-09-04T18:32:58.149Z,1757010778.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680261 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:58.522Z,1757010778.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:58.528Z,1757010778.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 41.123371 m,
      bearing: 168.629076 deg,
      approach rate: -0.723883 m/s,
      LOS rate: -0.003959 deg/s,
      cmd heading: 153.567665 deg,
      new cmd heading: 153.564653 deg.

2025-09-04T18:32:58.530Z,1757010778.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680209 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:58.951Z,1757010778.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:32:58.953Z,1757010778.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:58.956Z,1757010778.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 40.823742 m,
      bearing: 168.627426 deg,
      approach rate: -0.693065 m/s,
      LOS rate: -0.003846 deg/s,
      cmd heading: 153.564659 deg,
      new cmd heading: 153.561334 deg.

2025-09-04T18:32:58.957Z,1757010778.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680151 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:59.003Z,1757010779.003 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:32:59.003Z,1757010779.003 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:32:59.003Z,1757010779.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:32:59.253Z,1757010779.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504288
2025-09-04T18:32:59.397Z,1757010779.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:59.400Z,1757010779.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 40.519173 m,
      bearing: 168.622046 deg,
      approach rate: -0.686107 m/s,
      LOS rate: -0.012210 deg/s,
      cmd heading: 153.561340 deg,
      new cmd heading: 153.550500 deg.

2025-09-04T18:32:59.401Z,1757010779.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679962 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:32:59.506Z,1757010779.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757267
2025-09-04T18:32:59.738Z,1757010779.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:32:59.757Z,1757010779.757 [DAT](INFO): DAT read: Rx Time:18:32:58.3375

2025-09-04T18:32:59.758Z,1757010779.758 [DAT](INFO): Rx dataTimestamp_ set to:1757010779.757268
2025-09-04T18:32:59.758Z,1757010779.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009387
2025-09-04T18:32:59.765Z,1757010779.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 40.291523 m,
      bearing: 168.617935 deg,
      approach rate: -0.667710 m/s,
      LOS rate: -0.012125 deg/s,
      cmd heading: 153.550494 deg,
      new cmd heading: 153.542226 deg.

2025-09-04T18:32:59.766Z,1757010779.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679817 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:33:00.009Z,1757010780.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260414
2025-09-04T18:33:00.211Z,1757010780.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.72 m.
2025-09-04T18:33:00.234Z,1757010780.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.715046 m,
      nav range: 39.961731 m,
      bearing: 168.618093 deg,
      approach rate: -0.697735 m/s,
      LOS rate: 0.000335 deg/s,
      cmd heading: 153.542229 deg,
      new cmd heading: 153.542546 deg.

2025-09-04T18:33:00.235Z,1757010780.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679823 target range: 42.715046 and range: 42.90 m.
2025-09-04T18:33:00.267Z,1757010780.267 [DAT](INFO): DAT read: 18:32:58.3375 LVL= 31728, 32753, 29874, 28563, AGC= 66, IDX= 407,-0.09,-1.661, 2.648,-1.969,-2.056, PHS= 0.498,-1.534, 0.044, RAW= 137.7,  10.8, CAL= 137.2,  11.8, ROT=  12.8, -11.8

2025-09-04T18:33:00.268Z,1757010780.268 [DAT](INFO): got valid direction response:
 18:32:58.3375 LVL= 31728, 32753, 29874, 28563, AGC= 66, IDX= 407,-0.09,-1.661, 2.648,-1.969,-2.056, PHS= 0.498,-1.534, 0.044, RAW= 137.7,  10.8, CAL= 137.2,  11.8, ROT=  12.8, -11.8

2025-09-04T18:33:00.269Z,1757010780.269 [DAT](INFO): DAT read: Bearing 327.7,  10.1 (Local)

2025-09-04T18:33:00.269Z,1757010780.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,  10.1 (Local)

2025-09-04T18:33:00.271Z,1757010780.271 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m  (Round-trip  54.1 ms) speed  0.6 m/s

2025-09-04T18:33:00.271Z,1757010780.271 [DAT](INFO): DAT read: user:2846>

2025-09-04T18:33:00.272Z,1757010780.272 [DAT](INFO): DAT read: Tx time:18:32:59.4293

2025-09-04T18:33:00.273Z,1757010780.273 [DAT](INFO): Ping request sent.
2025-09-04T18:33:00.273Z,1757010780.273 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:00.273Z,1757010780.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:33:00.274Z,1757010780.274 [DAT](INFO): direction in FSK: [0.954542,0.216867,0.204496]
2025-09-04T18:33:00.274Z,1757010780.274 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:00.274Z,1757010780.274 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:00.279Z,1757010780.279 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:00.279Z,1757010780.279 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:00.417Z,1757010780.417 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:33:00.650Z,1757010780.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.528118 s,
      deltaX: -2.400002 m,
      approachRate: -0.680250 m/s,
      rangeRepo size: 4

2025-09-04T18:33:00.657Z,1757010780.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.325188 m,
      bearing: 169.163910 deg,
      lat: 36.779312 deg,
      lon: -121.859566 deg,
      deltaT: 3.528118 s,
      deltaX: -2.389858 m,
      approachRate: -0.677375 m/s,
      posRepo size: 4

2025-09-04T18:33:00.657Z,1757010780.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:00.662Z,1757010780.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 39.697647 m,
      bearing: 168.658816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000335 deg/s,
      cmd heading: 153.542543 deg,
      new cmd heading: 153.542838 deg.

2025-09-04T18:33:00.663Z,1757010780.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679828 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:01.117Z,1757010781.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:01.119Z,1757010781.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:01.126Z,1757010781.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 39.418663 m,
      bearing: 168.659380 deg,
      approach rate: -0.594776 m/s,
      LOS rate: 0.001213 deg/s,
      cmd heading: 153.542844 deg,
      new cmd heading: 153.543982 deg.

2025-09-04T18:33:01.127Z,1757010781.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679848 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:01.269Z,1757010781.269 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:33:01.269Z,1757010781.269 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:33:01.269Z,1757010781.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:33:01.420Z,1757010781.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:33:01.523Z,1757010781.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250241
2025-09-04T18:33:01.537Z,1757010781.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:01.592Z,1757010781.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 39.109402 m,
      bearing: 168.661243 deg,
      approach rate: -0.755941 m/s,
      LOS rate: 0.004588 deg/s,
      cmd heading: 153.543978 deg,
      new cmd heading: 153.547732 deg.

2025-09-04T18:33:01.593Z,1757010781.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679914 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:01.773Z,1757010781.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500215
2025-09-04T18:33:01.974Z,1757010781.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:01.977Z,1757010781.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 38.778568 m,
      bearing: 168.663412 deg,
      approach rate: -0.744986 m/s,
      LOS rate: 0.004925 deg/s,
      cmd heading: 153.547734 deg,
      new cmd heading: 153.552109 deg.

2025-09-04T18:33:01.978Z,1757010781.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679990 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:02.027Z,1757010782.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754033
2025-09-04T18:33:02.277Z,1757010782.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004412
2025-09-04T18:33:02.370Z,1757010782.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:02.393Z,1757010782.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 38.482975 m,
      bearing: 168.675369 deg,
      approach rate: -0.743087 m/s,
      LOS rate: 0.030291 deg/s,
      cmd heading: 153.552106 deg,
      new cmd heading: 153.576205 deg.

2025-09-04T18:33:02.394Z,1757010782.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680410 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:02.530Z,1757010782.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256896
2025-09-04T18:33:02.740Z,1757010782.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:02.747Z,1757010782.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 38.224190 m,
      bearing: 168.686263 deg,
      approach rate: -0.699819 m/s,
      LOS rate: 0.029660 deg/s,
      cmd heading: 153.576202 deg,
      new cmd heading: 153.598138 deg.

2025-09-04T18:33:02.748Z,1757010782.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680793 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:02.781Z,1757010782.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508768
2025-09-04T18:33:03.035Z,1757010783.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761602
2025-09-04T18:33:03.185Z,1757010783.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:03.187Z,1757010783.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:03.190Z,1757010783.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 37.917145 m,
      bearing: 168.708076 deg,
      approach rate: -0.686671 m/s,
      LOS rate: 0.049177 deg/s,
      cmd heading: 153.598141 deg,
      new cmd heading: 153.642120 deg.

2025-09-04T18:33:03.191Z,1757010783.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681561 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:03.288Z,1757010783.288 [DAT](INFO): DAT read: Rx Time:18:33:01.8843

2025-09-04T18:33:03.289Z,1757010783.289 [DAT](INFO): Rx dataTimestamp_ set to:1757010783.288304
2025-09-04T18:33:03.289Z,1757010783.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016401
2025-09-04T18:33:03.543Z,1757010783.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269581
2025-09-04T18:33:03.595Z,1757010783.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.33 m.
2025-09-04T18:33:03.598Z,1757010783.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.325188 m,
      nav range: 37.637054 m,
      bearing: 168.728284 deg,
      approach rate: -0.685797 m/s,
      LOS rate: 0.049848 deg/s,
      cmd heading: 153.642114 deg,
      new cmd heading: 153.682831 deg.

2025-09-04T18:33:03.599Z,1757010783.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682271 target range: 40.325188 and range: 40.50 m.
2025-09-04T18:33:03.799Z,1757010783.799 [DAT](INFO): DAT read: 18:33:01.8843 LVL= 29904, 32753, 28354, 27683, AGC= 67, IDX= 407,-0.13,-1.984, 2.508,-2.243,-2.283, PHS= 0.401,-1.448,-0.004, RAW= 138.0,  12.4, CAL= 137.3,  13.5, ROT=  12.7, -13.5

2025-09-04T18:33:03.800Z,1757010783.800 [DAT](INFO): got valid direction response:
 18:33:01.8843 LVL= 29904, 32753, 28354, 27683, AGC= 67, IDX= 407,-0.13,-1.984, 2.508,-2.243,-2.283, PHS= 0.401,-1.448,-0.004, RAW= 138.0,  12.4, CAL= 137.3,  13.5, ROT=  12.7, -13.5

2025-09-04T18:33:03.801Z,1757010783.801 [DAT](INFO): DAT read: Bearing 329.5,   9.0 (Local)

2025-09-04T18:33:03.801Z,1757010783.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.5,   9.0 (Local)

2025-09-04T18:33:03.803Z,1757010783.803 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m  (Round-trip  50.9 ms) speed  0.8 m/s

2025-09-04T18:33:03.803Z,1757010783.803 [DAT](INFO): DAT read: user:2847>

2025-09-04T18:33:03.804Z,1757010783.804 [DAT](INFO): DAT read: Tx time:18:33:02.9792

2025-09-04T18:33:03.805Z,1757010783.805 [DAT](INFO): Ping request sent.
2025-09-04T18:33:03.805Z,1757010783.805 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:03.805Z,1757010783.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:33:03.806Z,1757010783.806 [DAT](INFO): direction in FSK: [0.948580,0.213772,0.233445]
2025-09-04T18:33:03.806Z,1757010783.806 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:03.807Z,1757010783.807 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:03.810Z,1757010783.810 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:03.810Z,1757010783.810 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:04.034Z,1757010784.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.532064 s,
      deltaX: -2.400002 m,
      approachRate: -0.679490 m/s,
      rangeRepo size: 4

2025-09-04T18:33:04.101Z,1757010784.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.935589 m,
      bearing: 168.956485 deg,
      lat: 36.779312 deg,
      lon: -121.859568 deg,
      deltaT: 3.532064 s,
      deltaX: -2.389599 m,
      approachRate: -0.676545 m/s,
      posRepo size: 4

2025-09-04T18:33:04.103Z,1757010784.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:04.145Z,1757010784.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 37.334629 m,
      bearing: 168.965594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049848 deg/s,
      cmd heading: 153.682835 deg,
      new cmd heading: 153.726495 deg.

2025-09-04T18:33:04.146Z,1757010784.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683033 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:04.554Z,1757010784.554 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-09-04T18:33:04.554Z,1757010784.554 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-04T18:33:04.554Z,1757010784.554 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-09-04T18:33:04.556Z,1757010784.556 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-09-04T18:33:04.556Z,1757010784.556 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-09-04T18:33:04.556Z,1757010784.556 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-09-04T18:33:04.559Z,1757010784.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:04.562Z,1757010784.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 36.945255 m,
      bearing: 169.007675 deg,
      approach rate: -0.740620 m/s,
      LOS rate: 0.080885 deg/s,
      cmd heading: 153.726494 deg,
      new cmd heading: 153.811543 deg.

2025-09-04T18:33:04.563Z,1757010784.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684518 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:04.881Z,1757010784.881 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-09-04T18:33:04.881Z,1757010784.881 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-09-04T18:33:04.883Z,1757010784.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:04.907Z,1757010784.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 36.717865 m,
      bearing: 169.032639 deg,
      approach rate: -0.700535 m/s,
      LOS rate: 0.077385 deg/s,
      cmd heading: 153.811543 deg,
      new cmd heading: 153.861781 deg.

2025-09-04T18:33:04.912Z,1757010784.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685395 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:05.336Z,1757010785.336 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-09-04T18:33:05.336Z,1757010785.336 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-09-04T18:33:05.337Z,1757010785.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:05.339Z,1757010785.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:05.346Z,1757010785.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 36.426674 m,
      bearing: 169.066420 deg,
      approach rate: -0.639334 m/s,
      LOS rate: 0.074761 deg/s,
      cmd heading: 153.861786 deg,
      new cmd heading: 153.929887 deg.

2025-09-04T18:33:05.347Z,1757010785.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686583 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:05.560Z,1757010785.560 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:33:05.561Z,1757010785.561 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:33:05.562Z,1757010785.562 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-04T18:33:05.705Z,1757010785.705 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-09-04T18:33:05.706Z,1757010785.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-04T18:33:05.706Z,1757010785.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-09-04T18:33:05.706Z,1757010785.706 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-04T18:33:05.708Z,1757010785.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:05.711Z,1757010785.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 36.154140 m,
      bearing: 169.098656 deg,
      approach rate: -0.738203 m/s,
      LOS rate: 0.087976 deg/s,
      cmd heading: 153.929883 deg,
      new cmd heading: 153.994842 deg.

2025-09-04T18:33:05.712Z,1757010785.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687717 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:05.810Z,1757010785.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005325
2025-09-04T18:33:06.061Z,1757010786.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256116
2025-09-04T18:33:06.100Z,1757010786.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:06.132Z,1757010786.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 35.888859 m,
      bearing: 169.130371 deg,
      approach rate: -0.677078 m/s,
      LOS rate: 0.081543 deg/s,
      cmd heading: 153.994838 deg,
      new cmd heading: 154.058736 deg.

2025-09-04T18:33:06.135Z,1757010786.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688832 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:06.318Z,1757010786.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513638
2025-09-04T18:33:06.559Z,1757010786.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:06.562Z,1757010786.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 35.568775 m,
      bearing: 169.170337 deg,
      approach rate: -0.697040 m/s,
      LOS rate: 0.087817 deg/s,
      cmd heading: 154.058742 deg,
      new cmd heading: 154.139394 deg.

2025-09-04T18:33:06.563Z,1757010786.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690240 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:06.569Z,1757010786.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764232
2025-09-04T18:33:06.821Z,1757010786.821 [DAT](INFO): DAT read: Rx Time:18:33:05.4310

2025-09-04T18:33:06.821Z,1757010786.821 [DAT](INFO): Rx dataTimestamp_ set to:1757010786.821186
2025-09-04T18:33:06.822Z,1757010786.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017154
2025-09-04T18:33:06.922Z,1757010786.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.94 m.
2025-09-04T18:33:06.925Z,1757010786.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.935589 m,
      nav range: 35.318165 m,
      bearing: 169.202199 deg,
      approach rate: -0.691131 m/s,
      LOS rate: 0.088493 deg/s,
      cmd heading: 154.139393 deg,
      new cmd heading: 154.203569 deg.

2025-09-04T18:33:06.926Z,1757010786.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691360 target range: 37.935589 and range: 38.10 m.
2025-09-04T18:33:07.073Z,1757010787.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268082
2025-09-04T18:33:07.331Z,1757010787.331 [DAT](INFO): DAT read: 18:33:05.4310 LVL= 28960, 31473, 26354, 27379, AGC= 65, IDX= 404, 0.29, 1.444,-0.381, 1.195, 1.105, PHS= 0.441,-1.441, 0.047, RAW= 138.5,  11.1, CAL= 138.0,  12.1, ROT=  12.0, -12.1

2025-09-04T18:33:07.332Z,1757010787.332 [DAT](INFO): got valid direction response:
 18:33:05.4310 LVL= 28960, 31473, 26354, 27379, AGC= 65, IDX= 404, 0.29, 1.444,-0.381, 1.195, 1.105, PHS= 0.441,-1.441, 0.047, RAW= 138.5,  11.1, CAL= 138.0,  12.1, ROT=  12.0, -12.1

2025-09-04T18:33:07.333Z,1757010787.333 [DAT](INFO): DAT read: Bearing 327.7,   7.7 (Local)

2025-09-04T18:33:07.333Z,1757010787.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,   7.7 (Local)

2025-09-04T18:33:07.335Z,1757010787.335 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m  (Round-trip  47.6 ms) speed  0.6 m/s

2025-09-04T18:33:07.335Z,1757010787.335 [DAT](INFO): DAT read: user:2848>

2025-09-04T18:33:07.336Z,1757010787.336 [DAT](INFO): DAT read: Tx time:18:33:06.5292

2025-09-04T18:33:07.336Z,1757010787.336 [DAT](INFO): Ping request sent.
2025-09-04T18:33:07.337Z,1757010787.337 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:07.337Z,1757010787.337 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:33:07.338Z,1757010787.338 [DAT](INFO): direction in FSK: [0.956416,0.203293,0.209619]
2025-09-04T18:33:07.338Z,1757010787.338 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:07.338Z,1757010787.338 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:07.341Z,1757010787.341 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:07.342Z,1757010787.342 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:07.345Z,1757010787.345 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008244
2025-09-04T18:33:07.442Z,1757010787.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 3.531968 s,
      deltaX: -2.399998 m,
      approachRate: -0.679507 m/s,
      rangeRepo size: 4

2025-09-04T18:33:07.449Z,1757010787.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.545914 m,
      bearing: 168.127508 deg,
      lat: 36.779312 deg,
      lon: -121.859568 deg,
      deltaT: 3.531968 s,
      deltaX: -2.389675 m,
      approachRate: -0.676585 m/s,
      posRepo size: 4

2025-09-04T18:33:07.449Z,1757010787.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:07.456Z,1757010787.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 35.011887 m,
      bearing: 169.255133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.088493 deg/s,
      cmd heading: 154.203569 deg,
      new cmd heading: 154.295624 deg.

2025-09-04T18:33:07.457Z,1757010787.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692967 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:07.577Z,1757010787.577 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.240700
2025-09-04T18:33:07.829Z,1757010787.829 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492592
2025-09-04T18:33:07.979Z,1757010787.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:07.985Z,1757010787.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:07.993Z,1757010787.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 34.642105 m,
      bearing: 169.298312 deg,
      approach rate: -0.680486 m/s,
      LOS rate: 0.080310 deg/s,
      cmd heading: 154.295626 deg,
      new cmd heading: 154.382908 deg.

2025-09-04T18:33:07.994Z,1757010787.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694490 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:08.081Z,1757010788.081 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744569
2025-09-04T18:33:08.333Z,1757010788.333 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996452
2025-09-04T18:33:08.551Z,1757010788.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:08.554Z,1757010788.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 34.242653 m,
      bearing: 169.341816 deg,
      approach rate: -0.706392 m/s,
      LOS rate: 0.077830 deg/s,
      cmd heading: 154.382902 deg,
      new cmd heading: 154.470925 deg.

2025-09-04T18:33:08.555Z,1757010788.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696026 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:08.585Z,1757010788.585 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248375
2025-09-04T18:33:08.837Z,1757010788.837 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500351
2025-09-04T18:33:08.976Z,1757010788.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:08.979Z,1757010788.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 33.954140 m,
      bearing: 169.373918 deg,
      approach rate: -0.678038 m/s,
      LOS rate: 0.076084 deg/s,
      cmd heading: 154.470930 deg,
      new cmd heading: 154.535679 deg.

2025-09-04T18:33:08.980Z,1757010788.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697156 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:09.090Z,1757010789.090 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.753265
2025-09-04T18:33:09.341Z,1757010789.341 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.004398
2025-09-04T18:33:09.423Z,1757010789.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:09.430Z,1757010789.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 33.653484 m,
      bearing: 169.398477 deg,
      approach rate: -0.672860 m/s,
      LOS rate: 0.055454 deg/s,
      cmd heading: 154.535680 deg,
      new cmd heading: 154.585238 deg.

2025-09-04T18:33:09.431Z,1757010789.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698021 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:09.593Z,1757010789.593 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.256420
2025-09-04T18:33:09.845Z,1757010789.845 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.508597
2025-09-04T18:33:09.847Z,1757010789.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:09.850Z,1757010789.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 33.358257 m,
      bearing: 169.422780 deg,
      approach rate: -0.696433 m/s,
      LOS rate: 0.057838 deg/s,
      cmd heading: 154.585240 deg,
      new cmd heading: 154.634276 deg.

2025-09-04T18:33:09.851Z,1757010789.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698877 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:10.097Z,1757010790.097 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.760336
2025-09-04T18:33:10.242Z,1757010790.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:10.244Z,1757010790.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:10.247Z,1757010790.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 33.085518 m,
      bearing: 169.445618 deg,
      approach rate: -0.686380 m/s,
      LOS rate: 0.057948 deg/s,
      cmd heading: 154.634281 deg,
      new cmd heading: 154.680333 deg.

2025-09-04T18:33:10.248Z,1757010790.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699681 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:10.359Z,1757010790.359 [DAT](INFO): DAT read: Rx Time:18:33:08.9776

2025-09-04T18:33:10.359Z,1757010790.359 [DAT](INFO): Rx dataTimestamp_ set to:1757010790.358822
2025-09-04T18:33:10.360Z,1757010790.360 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.023119
2025-09-04T18:33:10.601Z,1757010790.601 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.264516
2025-09-04T18:33:10.662Z,1757010790.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.55 m.
2025-09-04T18:33:10.665Z,1757010790.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.545914 m,
      nav range: 32.802769 m,
      bearing: 169.461347 deg,
      approach rate: -0.677705 m/s,
      LOS rate: 0.038024 deg/s,
      cmd heading: 154.680330 deg,
      new cmd heading: 154.712058 deg.

2025-09-04T18:33:10.666Z,1757010790.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700235 target range: 35.545914 and range: 35.70 m.
2025-09-04T18:33:10.859Z,1757010790.859 [DAT](INFO): DAT read: 18:33:08.9776 LVL= 22864, 27617, 23234, 27763, AGC= 64, IDX= 402,-0.30, 2.996, 1.170, 2.778, 2.670, PHS= 0.428,-1.455, 0.064, RAW= 139.5,  11.1, CAL= 139.0,  12.1, ROT=  11.0, -12.1

2025-09-04T18:33:10.860Z,1757010790.860 [DAT](INFO): got valid direction response:
 18:33:08.9776 LVL= 22864, 27617, 23234, 27763, AGC= 64, IDX= 402,-0.30, 2.996, 1.170, 2.778, 2.670, PHS= 0.428,-1.455, 0.064, RAW= 139.5,  11.1, CAL= 139.0,  12.1, ROT=  11.0, -12.1

2025-09-04T18:33:10.861Z,1757010790.861 [DAT](INFO): DAT read: Bearing 327.5,   6.4 (Local)

2025-09-04T18:33:10.861Z,1757010790.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5,   6.4 (Local)

2025-09-04T18:33:10.863Z,1757010790.863 [DAT](INFO): DAT read: Range 11 to 50 : 33.1 m  (Round-trip  44.2 ms) speed  0.9 m/s

2025-09-04T18:33:10.863Z,1757010790.863 [DAT](INFO): DAT read: user:2849>

2025-09-04T18:33:10.864Z,1757010790.864 [DAT](INFO): DAT read: Tx time:18:33:10.0792

2025-09-04T18:33:10.865Z,1757010790.865 [DAT](INFO): Ping request sent.
2025-09-04T18:33:10.865Z,1757010790.865 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:10.865Z,1757010790.865 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-04T18:33:10.866Z,1757010790.866 [DAT](INFO): direction in FSK: [0.959819,0.186570,0.209619]
2025-09-04T18:33:10.866Z,1757010790.866 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:10.866Z,1757010790.866 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:10.870Z,1757010790.870 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:10.870Z,1757010790.870 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:10.880Z,1757010790.880 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.015166
2025-09-04T18:33:11.087Z,1757010791.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.099998 m,
      deltaT: 3.527848 s,
      deltaX: -2.600002 m,
      approachRate: -0.736994 m/s,
      rangeRepo size: 4

2025-09-04T18:33:11.098Z,1757010791.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.957085 m,
      bearing: 167.092848 deg,
      lat: 36.779312 deg,
      lon: -121.859566 deg,
      deltaT: 3.527848 s,
      deltaX: -2.588829 m,
      approachRate: -0.733827 m/s,
      posRepo size: 4

2025-09-04T18:33:11.098Z,1757010791.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:11.105Z,1757010791.105 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240327
2025-09-04T18:33:11.109Z,1757010791.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 32.562637 m,
      bearing: 169.187337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038024 deg/s,
      cmd heading: 154.712063 deg,
      new cmd heading: 154.744388 deg.

2025-09-04T18:33:11.110Z,1757010791.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700799 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:11.358Z,1757010791.358 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.493705
2025-09-04T18:33:11.558Z,1757010791.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:11.566Z,1757010791.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 32.231236 m,
      bearing: 169.190727 deg,
      approach rate: -0.702335 m/s,
      LOS rate: 0.007259 deg/s,
      cmd heading: 154.744383 deg,
      new cmd heading: 154.751233 deg.

2025-09-04T18:33:11.567Z,1757010791.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700918 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:11.611Z,1757010791.611 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.745731
2025-09-04T18:33:11.861Z,1757010791.861 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.996681
2025-09-04T18:33:11.939Z,1757010791.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:11.950Z,1757010791.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 31.984480 m,
      bearing: 169.193296 deg,
      approach rate: -0.648200 m/s,
      LOS rate: 0.006800 deg/s,
      cmd heading: 154.751227 deg,
      new cmd heading: 154.756405 deg.

2025-09-04T18:33:11.951Z,1757010791.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701009 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:12.113Z,1757010792.113 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.248488
2025-09-04T18:33:12.365Z,1757010792.365 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500391
2025-09-04T18:33:12.401Z,1757010792.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:12.403Z,1757010792.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:12.410Z,1757010792.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 31.668182 m,
      bearing: 169.204656 deg,
      approach rate: -0.681367 m/s,
      LOS rate: 0.024716 deg/s,
      cmd heading: 154.756404 deg,
      new cmd heading: 154.779351 deg.

2025-09-04T18:33:12.411Z,1757010792.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701409 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:12.622Z,1757010792.622 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.757598
2025-09-04T18:33:12.768Z,1757010792.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:12.771Z,1757010792.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 31.398460 m,
      bearing: 169.214725 deg,
      approach rate: -0.740006 m/s,
      LOS rate: 0.027862 deg/s,
      cmd heading: 154.779354 deg,
      new cmd heading: 154.799664 deg.

2025-09-04T18:33:12.772Z,1757010792.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701764 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:12.874Z,1757010792.874 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.009526
2025-09-04T18:33:13.125Z,1757010793.125 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.260446
2025-09-04T18:33:13.189Z,1757010793.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:13.192Z,1757010793.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 31.106228 m,
      bearing: 169.225732 deg,
      approach rate: -0.693150 m/s,
      LOS rate: 0.026352 deg/s,
      cmd heading: 154.799667 deg,
      new cmd heading: 154.821887 deg.

2025-09-04T18:33:13.193Z,1757010793.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702152 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:13.377Z,1757010793.377 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.512311
2025-09-04T18:33:13.587Z,1757010793.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:13.590Z,1757010793.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 30.839331 m,
      bearing: 169.231402 deg,
      approach rate: -0.671190 m/s,
      LOS rate: 0.014384 deg/s,
      cmd heading: 154.821892 deg,
      new cmd heading: 154.833332 deg.

2025-09-04T18:33:13.591Z,1757010793.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702351 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:13.630Z,1757010793.630 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.764889
2025-09-04T18:33:13.881Z,1757010793.881 [DAT](INFO): DAT read: Rx Time:18:33:12.5247

2025-09-04T18:33:13.881Z,1757010793.881 [DAT](INFO): Rx dataTimestamp_ set to:1757010793.881153
2025-09-04T18:33:13.882Z,1757010793.882 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.017316
2025-09-04T18:33:13.989Z,1757010793.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.96 m.
2025-09-04T18:33:13.993Z,1757010793.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.957085 m,
      nav range: 30.569820 m,
      bearing: 169.237386 deg,
      approach rate: -0.671180 m/s,
      LOS rate: 0.015033 deg/s,
      cmd heading: 154.833326 deg,
      new cmd heading: 154.845399 deg.

2025-09-04T18:33:13.996Z,1757010793.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702562 target range: 32.957085 and range: 33.10 m.
2025-09-04T18:33:14.134Z,1757010794.134 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.269041
2025-09-04T18:33:14.391Z,1757010794.391 [DAT](INFO): DAT read: 18:33:12.5247 LVL= 23456, 28609, 24210, 31475, AGC= 68, IDX= 419,-0.11,-1.124,-2.901,-1.249,-1.447, PHS= 0.425,-1.409, 0.154, RAW= 142.1,   9.7, CAL= 141.7,  10.6, ROT=   8.3, -10.6

2025-09-04T18:33:14.393Z,1757010794.393 [DAT](INFO): got valid direction response:
 18:33:12.5247 LVL= 23456, 28609, 24210, 31475, AGC= 68, IDX= 419,-0.11,-1.124,-2.901,-1.249,-1.447, PHS= 0.425,-1.409, 0.154, RAW= 142.1,   9.7, CAL= 141.7,  10.6, ROT=   8.3, -10.6

2025-09-04T18:33:14.394Z,1757010794.394 [DAT](INFO): DAT read: Bearing 326.0,   3.9 (Local)

2025-09-04T18:33:14.394Z,1757010794.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.0,   3.9 (Local)

2025-09-04T18:33:14.395Z,1757010794.395 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m  (Round-trip  41.3 ms) speed  0.5 m/s

2025-09-04T18:33:14.396Z,1757010794.396 [DAT](INFO): DAT read: user:2850>

2025-09-04T18:33:14.397Z,1757010794.397 [DAT](INFO): DAT read: Tx time:18:33:13.6292

2025-09-04T18:33:14.397Z,1757010794.397 [DAT](INFO): Ping request sent.
2025-09-04T18:33:14.397Z,1757010794.397 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:14.398Z,1757010794.398 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-04T18:33:14.399Z,1757010794.399 [DAT](INFO): direction in FSK: [0.972640,0.141893,0.183951]
2025-09-04T18:33:14.399Z,1757010794.399 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:14.399Z,1757010794.399 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:14.427Z,1757010794.427 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:14.427Z,1757010794.427 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:14.470Z,1757010794.470 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.072097
2025-09-04T18:33:14.494Z,1757010794.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 3.532124 s,
      deltaX: -2.199999 m,
      approachRate: -0.622854 m/s,
      rangeRepo size: 4

2025-09-04T18:33:14.510Z,1757010794.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.767248 m,
      bearing: 164.332756 deg,
      lat: 36.779312 deg,
      lon: -121.859560 deg,
      deltaT: 3.532124 s,
      deltaX: -2.189837 m,
      approachRate: -0.619977 m/s,
      posRepo size: 4

2025-09-04T18:33:14.512Z,1757010794.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:14.533Z,1757010794.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 30.315058 m,
      bearing: 168.216363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015033 deg/s,
      cmd heading: 154.845402 deg,
      new cmd heading: 154.860042 deg.

2025-09-04T18:33:14.534Z,1757010794.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702818 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:14.637Z,1757010794.637 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239597
2025-09-04T18:33:14.873Z,1757010794.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:14.875Z,1757010794.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:14.882Z,1757010794.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 30.004068 m,
      bearing: 168.215368 deg,
      approach rate: -0.777584 m/s,
      LOS rate: -0.002513 deg/s,
      cmd heading: 154.860046 deg,
      new cmd heading: 154.858035 deg.

2025-09-04T18:33:14.883Z,1757010794.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702783 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:14.890Z,1757010794.890 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.492421
2025-09-04T18:33:15.141Z,1757010795.141 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.743615
2025-09-04T18:33:15.247Z,1757010795.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:15.250Z,1757010795.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 29.767712 m,
      bearing: 168.214443 deg,
      approach rate: -0.635795 m/s,
      LOS rate: -0.002508 deg/s,
      cmd heading: 154.858038 deg,
      new cmd heading: 154.856173 deg.

2025-09-04T18:33:15.251Z,1757010795.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702750 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:15.396Z,1757010795.396 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.997645
2025-09-04T18:33:15.645Z,1757010795.645 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247650
2025-09-04T18:33:15.689Z,1757010795.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:15.692Z,1757010795.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 29.439802 m,
      bearing: 168.231211 deg,
      approach rate: -0.741954 m/s,
      LOS rate: 0.038364 deg/s,
      cmd heading: 154.856166 deg,
      new cmd heading: 154.890076 deg.

2025-09-04T18:33:15.693Z,1757010795.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703342 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:15.898Z,1757010795.898 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.500449
2025-09-04T18:33:16.149Z,1757010796.149 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.751636
2025-09-04T18:33:16.158Z,1757010796.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:16.162Z,1757010796.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 29.116619 m,
      bearing: 168.248188 deg,
      approach rate: -0.689191 m/s,
      LOS rate: 0.036607 deg/s,
      cmd heading: 154.890071 deg,
      new cmd heading: 154.924403 deg.

2025-09-04T18:33:16.163Z,1757010796.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703941 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:16.403Z,1757010796.403 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.005341
2025-09-04T18:33:16.605Z,1757010796.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:16.607Z,1757010796.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 28.827662 m,
      bearing: 168.262061 deg,
      approach rate: -0.647318 m/s,
      LOS rate: 0.031388 deg/s,
      cmd heading: 154.924400 deg,
      new cmd heading: 154.952422 deg.

2025-09-04T18:33:16.608Z,1757010796.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704430 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:16.653Z,1757010796.653 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255735
2025-09-04T18:33:16.905Z,1757010796.905 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.507598
2025-09-04T18:33:17.029Z,1757010797.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:17.031Z,1757010797.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:17.034Z,1757010797.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 28.520664 m,
      bearing: 168.277007 deg,
      approach rate: -0.719975 m/s,
      LOS rate: 0.035430 deg/s,
      cmd heading: 154.952417 deg,
      new cmd heading: 154.982632 deg.

2025-09-04T18:33:17.035Z,1757010797.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704957 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:17.157Z,1757010797.157 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.759559
2025-09-04T18:33:17.416Z,1757010797.416 [DAT](INFO): DAT read: Rx Time:18:33:16.0714

2025-09-04T18:33:17.416Z,1757010797.416 [DAT](INFO): Rx dataTimestamp_ set to:1757010797.416011
2025-09-04T18:33:17.417Z,1757010797.417 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.019405
2025-09-04T18:33:17.511Z,1757010797.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:17.524Z,1757010797.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 28.221638 m,
      bearing: 168.301277 deg,
      approach rate: -0.623654 m/s,
      LOS rate: 0.051154 deg/s,
      cmd heading: 154.982634 deg,
      new cmd heading: 155.031688 deg.

2025-09-04T18:33:17.529Z,1757010797.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705813 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:17.669Z,1757010797.669 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.271600
2025-09-04T18:33:17.915Z,1757010797.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-04T18:33:17.927Z,1757010797.927 [DAT](INFO): DAT read: 18:33:16.0714 LVL= 25216, 32753, 26098, 30163, AGC= 66, IDX= 403, 0.06, 1.213,-0.474, 1.256, 0.984, PHS= 0.331,-1.413, 0.227, RAW= 147.0,  10.1, CAL= 146.6,  11.0, ROT=   3.4, -11.0

2025-09-04T18:33:17.928Z,1757010797.928 [DAT](INFO): got valid direction response:
 18:33:16.0714 LVL= 25216, 32753, 26098, 30163, AGC= 66, IDX= 403, 0.06, 1.213,-0.474, 1.256, 0.984, PHS= 0.331,-1.413, 0.227, RAW= 147.0,  10.1, CAL= 146.6,  11.0, ROT=   3.4, -11.0

2025-09-04T18:33:17.929Z,1757010797.929 [DAT](INFO): DAT read: Bearing 326.4,  -0.9 (Local)

2025-09-04T18:33:17.929Z,1757010797.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.4,  -0.9 (Local)

2025-09-04T18:33:17.931Z,1757010797.931 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m  (Round-trip  38.1 ms) speed  0.6 m/s

2025-09-04T18:33:17.931Z,1757010797.931 [DAT](INFO): DAT read: user:2851>

2025-09-04T18:33:17.932Z,1757010797.932 [DAT](INFO): DAT read: Tx time:18:33:17.1791

2025-09-04T18:33:17.932Z,1757010797.932 [DAT](INFO): Ping request sent.
2025-09-04T18:33:17.933Z,1757010797.933 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:17.933Z,1757010797.933 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-09-04T18:33:17.934Z,1757010797.934 [DAT](INFO): direction in FSK: [0.979899,0.058217,0.190809]
2025-09-04T18:33:17.934Z,1757010797.934 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:17.934Z,1757010797.934 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:17.938Z,1757010797.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.767248 m,
      nav range: 27.915037 m,
      bearing: 168.326307 deg,
      approach rate: -0.758344 m/s,
      LOS rate: 0.062590 deg/s,
      cmd heading: 155.031688 deg,
      new cmd heading: 155.082299 deg.

2025-09-04T18:33:17.939Z,1757010797.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706697 target range: 30.767248 and range: 30.90 m.
2025-09-04T18:33:17.942Z,1757010797.942 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:17.942Z,1757010797.942 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:17.954Z,1757010797.954 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.021237
2025-09-04T18:33:18.174Z,1757010798.174 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.241213
2025-09-04T18:33:18.416Z,1757010798.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 3.535958 s,
      deltaX: -2.400000 m,
      approachRate: -0.678741 m/s,
      rangeRepo size: 4

2025-09-04T18:33:18.418Z,1757010798.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.377064 m,
      bearing: 159.660655 deg,
      lat: 36.779313 deg,
      lon: -121.859552 deg,
      deltaT: 3.535958 s,
      deltaX: -2.390184 m,
      approachRate: -0.675965 m/s,
      posRepo size: 4

2025-09-04T18:33:18.419Z,1757010798.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:18.425Z,1757010798.425 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492402
2025-09-04T18:33:18.430Z,1757010798.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 27.645712 m,
      bearing: 167.009882 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.062590 deg/s,
      cmd heading: 155.082300 deg,
      new cmd heading: 155.143953 deg.

2025-09-04T18:33:18.431Z,1757010798.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707773 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:18.677Z,1757010798.677 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744471
2025-09-04T18:33:18.815Z,1757010798.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:18.827Z,1757010798.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 27.353109 m,
      bearing: 167.023380 deg,
      approach rate: -0.718434 m/s,
      LOS rate: 0.033497 deg/s,
      cmd heading: 155.143949 deg,
      new cmd heading: 155.171235 deg.

2025-09-04T18:33:18.828Z,1757010798.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708249 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:18.930Z,1757010798.930 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996995
2025-09-04T18:33:19.181Z,1757010799.181 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248470
2025-09-04T18:33:19.201Z,1757010799.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:19.203Z,1757010799.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:19.211Z,1757010799.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 27.095831 m,
      bearing: 167.035032 deg,
      approach rate: -0.662522 m/s,
      LOS rate: 0.030291 deg/s,
      cmd heading: 155.171229 deg,
      new cmd heading: 155.194755 deg.

2025-09-04T18:33:19.216Z,1757010799.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708659 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:19.434Z,1757010799.434 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.501287
2025-09-04T18:33:19.596Z,1757010799.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:19.599Z,1757010799.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 26.815939 m,
      bearing: 167.051635 deg,
      approach rate: -0.712342 m/s,
      LOS rate: 0.042695 deg/s,
      cmd heading: 155.194752 deg,
      new cmd heading: 155.228304 deg.

2025-09-04T18:33:19.600Z,1757010799.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709245 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:19.686Z,1757010799.686 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.753288
2025-09-04T18:33:19.937Z,1757010799.937 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.004447
2025-09-04T18:33:20.017Z,1757010800.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:20.020Z,1757010800.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 26.544039 m,
      bearing: 167.067781 deg,
      approach rate: -0.646901 m/s,
      LOS rate: 0.038810 deg/s,
      cmd heading: 155.228302 deg,
      new cmd heading: 155.260927 deg.

2025-09-04T18:33:20.025Z,1757010800.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709814 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:20.189Z,1757010800.189 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.256601
2025-09-04T18:33:20.433Z,1757010800.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:20.436Z,1757010800.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 26.245993 m,
      bearing: 167.082088 deg,
      approach rate: -0.715269 m/s,
      LOS rate: 0.034723 deg/s,
      cmd heading: 155.260923 deg,
      new cmd heading: 155.289861 deg.

2025-09-04T18:33:20.437Z,1757010800.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710319 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:20.441Z,1757010800.441 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.508594
2025-09-04T18:33:20.693Z,1757010800.693 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.760429
2025-09-04T18:33:20.789Z,1757010800.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:20.792Z,1757010800.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 25.999056 m,
      bearing: 167.093698 deg,
      approach rate: -0.692740 m/s,
      LOS rate: 0.032879 deg/s,
      cmd heading: 155.289856 deg,
      new cmd heading: 155.313296 deg.

2025-09-04T18:33:20.793Z,1757010800.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710728 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:20.945Z,1757010800.945 [DAT](INFO): DAT read: Rx Time:18:33:19.6182

2025-09-04T18:33:20.945Z,1757010800.945 [DAT](INFO): Rx dataTimestamp_ set to:1757010800.945188
2025-09-04T18:33:20.946Z,1757010800.946 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.013418
2025-09-04T18:33:21.198Z,1757010801.198 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264903
2025-09-04T18:33:21.202Z,1757010801.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-04T18:33:21.205Z,1757010801.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.377064 m,
      nav range: 25.714430 m,
      bearing: 167.106765 deg,
      approach rate: -0.690043 m/s,
      LOS rate: 0.032032 deg/s,
      cmd heading: 155.313297 deg,
      new cmd heading: 155.339722 deg.

2025-09-04T18:33:21.206Z,1757010801.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711190 target range: 28.377064 and range: 28.50 m.
2025-09-04T18:33:21.456Z,1757010801.456 [DAT](INFO): DAT read: 18:33:19.6182 LVL= 20464, 29249, 17074, 27187, AGC= 64, IDX= 402, 0.32,-0.800,-2.411,-0.602,-0.960, PHS= 0.262,-1.406, 0.314, RAW= 151.5,   9.8, CAL= 151.2,  10.7, ROT= 358.8, -10.7

2025-09-04T18:33:21.458Z,1757010801.458 [DAT](INFO): got valid direction response:
 18:33:19.6182 LVL= 20464, 29249, 17074, 27187, AGC= 64, IDX= 402, 0.32,-0.800,-2.411,-0.602,-0.960, PHS= 0.262,-1.406, 0.314, RAW= 151.5,   9.8, CAL= 151.2,  10.7, ROT= 358.8, -10.7

2025-09-04T18:33:21.459Z,1757010801.459 [DAT](INFO): DAT read: Bearing 326.1,  -5.1 (Local)

2025-09-04T18:33:21.459Z,1757010801.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.1,  -5.1 (Local)

2025-09-04T18:33:21.461Z,1757010801.461 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.9 ms) speed  0.6 m/s

2025-09-04T18:33:21.462Z,1757010801.462 [DAT](INFO): DAT read: user:2852>

2025-09-04T18:33:21.464Z,1757010801.464 [DAT](INFO): DAT read: Tx time:18:33:20.7291

2025-09-04T18:33:21.473Z,1757010801.473 [DAT](INFO): Ping request sent.
2025-09-04T18:33:21.473Z,1757010801.473 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:21.473Z,1757010801.473 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-09-04T18:33:21.475Z,1757010801.475 [DAT](INFO): direction in FSK: [0.982397,-0.020578,0.185667]
2025-09-04T18:33:21.475Z,1757010801.475 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:21.475Z,1757010801.475 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:21.513Z,1757010801.513 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:21.514Z,1757010801.514 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:21.521Z,1757010801.521 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.048510
2025-09-04T18:33:21.701Z,1757010801.701 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.228746
2025-09-04T18:33:21.722Z,1757010801.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.529581 s,
      deltaX: -2.400000 m,
      approachRate: -0.679967 m/s,
      rangeRepo size: 4

2025-09-04T18:33:21.724Z,1757010801.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.988358 m,
      bearing: 155.453926 deg,
      lat: 36.779314 deg,
      lon: -121.859536 deg,
      deltaT: 3.529581 s,
      deltaX: -2.388706 m,
      approachRate: -0.676768 m/s,
      posRepo size: 4

2025-09-04T18:33:21.733Z,1757010801.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:21.735Z,1757010801.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 25.595055 m,
      bearing: 163.945928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032032 deg/s,
      cmd heading: 155.339716 deg,
      new cmd heading: 155.372984 deg.

2025-09-04T18:33:21.745Z,1757010801.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711770 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:21.956Z,1757010801.956 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.483144
2025-09-04T18:33:22.133Z,1757010802.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:22.135Z,1757010802.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:22.142Z,1757010802.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 25.295748 m,
      bearing: 163.925779 deg,
      approach rate: -0.723381 m/s,
      LOS rate: -0.049273 deg/s,
      cmd heading: 155.372979 deg,
      new cmd heading: 155.332204 deg.

2025-09-04T18:33:22.143Z,1757010802.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711058 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:22.207Z,1757010802.207 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.734048
2025-09-04T18:33:22.457Z,1757010802.457 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.984471
2025-09-04T18:33:22.560Z,1757010802.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:22.563Z,1757010802.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 24.983656 m,
      bearing: 163.878564 deg,
      approach rate: -0.733643 m/s,
      LOS rate: -0.112375 deg/s,
      cmd heading: 155.332203 deg,
      new cmd heading: 155.236594 deg.

2025-09-04T18:33:22.564Z,1757010802.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709390 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:22.709Z,1757010802.709 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.236359
2025-09-04T18:33:22.917Z,1757010802.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:22.920Z,1757010802.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 24.733694 m,
      bearing: 163.839931 deg,
      approach rate: -0.699942 m/s,
      LOS rate: -0.109273 deg/s,
      cmd heading: 155.236594 deg,
      new cmd heading: 155.158548 deg.

2025-09-04T18:33:22.921Z,1757010802.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708028 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:22.962Z,1757010802.962 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.489235
2025-09-04T18:33:23.213Z,1757010803.213 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.740369
2025-09-04T18:33:23.305Z,1757010803.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:23.309Z,1757010803.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 24.462008 m,
      bearing: 163.796951 deg,
      approach rate: -0.699893 m/s,
      LOS rate: -0.111951 deg/s,
      cmd heading: 155.158552 deg,
      new cmd heading: 155.071638 deg.

2025-09-04T18:33:23.310Z,1757010803.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706511 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:23.465Z,1757010803.465 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.992210
2025-09-04T18:33:23.717Z,1757010803.717 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.244323
2025-09-04T18:33:23.769Z,1757010803.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:23.780Z,1757010803.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 24.158699 m,
      bearing: 163.744937 deg,
      approach rate: -0.654269 m/s,
      LOS rate: -0.113609 deg/s,
      cmd heading: 155.071631 deg,
      new cmd heading: 154.966297 deg.

2025-09-04T18:33:23.781Z,1757010803.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704672 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:23.969Z,1757010803.969 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.496286
2025-09-04T18:33:24.128Z,1757010804.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:24.151Z,1757010804.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 23.893612 m,
      bearing: 163.698325 deg,
      approach rate: -0.739207 m/s,
      LOS rate: -0.131422 deg/s,
      cmd heading: 154.966296 deg,
      new cmd heading: 154.872038 deg.

2025-09-04T18:33:24.152Z,1757010804.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703027 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:24.231Z,1757010804.231 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.757786
2025-09-04T18:33:24.482Z,1757010804.482 [DAT](INFO): DAT read: Rx Time:18:33:23.1650

2025-09-04T18:33:24.483Z,1757010804.483 [DAT](INFO): Rx dataTimestamp_ set to:1757010804.482034
2025-09-04T18:33:24.484Z,1757010804.484 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.010780
2025-09-04T18:33:24.582Z,1757010804.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:24.584Z,1757010804.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-04T18:33:24.587Z,1757010804.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.988358 m,
      nav range: 23.580027 m,
      bearing: 163.635838 deg,
      approach rate: -0.686833 m/s,
      LOS rate: -0.138683 deg/s,
      cmd heading: 154.872040 deg,
      new cmd heading: 154.745403 deg.

2025-09-04T18:33:24.588Z,1757010804.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700817 target range: 25.988358 and range: 26.10 m.
2025-09-04T18:33:24.733Z,1757010804.733 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.260291
2025-09-04T18:33:24.995Z,1757010804.995 [DAT](INFO): DAT read: 18:33:23.1650 LVL= 24032, 31553, 23266, 29683, AGC= 59, IDX= 401, 0.24, 2.643, 1.161, 2.994, 2.533, PHS= 0.212,-1.327, 0.417, RAW= 156.2,   8.5, CAL= 155.8,   9.0, ROT= 354.2,  -9.0

2025-09-04T18:33:24.997Z,1757010804.997 [DAT](INFO): got valid direction response:
 18:33:23.1650 LVL= 24032, 31553, 23266, 29683, AGC= 59, IDX= 401, 0.24, 2.643, 1.161, 2.994, 2.533, PHS= 0.212,-1.327, 0.417, RAW= 156.2,   8.5, CAL= 155.8,   9.0, ROT= 354.2,  -9.0

2025-09-04T18:33:24.999Z,1757010804.999 [DAT](INFO): DAT read: Bearing 324.5,  -9.1 (Local)

2025-09-04T18:33:25.004Z,1757010805.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.5,  -9.1 (Local)

2025-09-04T18:33:25.017Z,1757010805.017 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m  (Round-trip  31.7 ms) speed  0.5 m/s

2025-09-04T18:33:25.017Z,1757010805.017 [DAT](INFO): DAT read: user:2853>

2025-09-04T18:33:25.018Z,1757010805.018 [DAT](INFO): DAT read: Tx time:18:33:24.2791

2025-09-04T18:33:25.018Z,1757010805.018 [DAT](INFO): Ping request sent.
2025-09-04T18:33:25.018Z,1757010805.018 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:25.019Z,1757010805.019 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-09-04T18:33:25.020Z,1757010805.020 [DAT](INFO): direction in FSK: [0.982632,-0.099812,0.156434]
2025-09-04T18:33:25.028Z,1757010805.028 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:25.029Z,1757010805.029 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:25.031Z,1757010805.031 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:25.049Z,1757010805.049 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:25.072Z,1757010805.072 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.053871
2025-09-04T18:33:25.076Z,1757010805.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 3.535222 s,
      deltaX: -2.400000 m,
      approachRate: -0.678882 m/s,
      rangeRepo size: 4

2025-09-04T18:33:25.086Z,1757010805.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.598808 m,
      bearing: 151.089690 deg,
      lat: 36.779318 deg,
      lon: -121.859512 deg,
      deltaT: 3.535222 s,
      deltaX: -2.389549 m,
      approachRate: -0.675926 m/s,
      posRepo size: 4

2025-09-04T18:33:25.087Z,1757010805.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:25.093Z,1757010805.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 23.623436 m,
      bearing: 158.296260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.138683 deg/s,
      cmd heading: 154.745408 deg,
      new cmd heading: 154.609298 deg.

2025-09-04T18:33:25.094Z,1757010805.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698441 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:25.237Z,1757010805.237 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.218523
2025-09-04T18:33:25.491Z,1757010805.491 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.472050
2025-09-04T18:33:25.605Z,1757010805.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:25.608Z,1757010805.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 23.240644 m,
      bearing: 158.119848 deg,
      approach rate: -0.721570 m/s,
      LOS rate: -0.338017 deg/s,
      cmd heading: 154.609296 deg,
      new cmd heading: 154.250666 deg.

2025-09-04T18:33:25.609Z,1757010805.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692182 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:25.741Z,1757010805.741 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.722600
2025-09-04T18:33:25.952Z,1757010805.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:25.995Z,1757010805.995 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.976053
2025-09-04T18:33:26.005Z,1757010806.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 23.018097 m,
      bearing: 158.014616 deg,
      approach rate: -0.642709 m/s,
      LOS rate: -0.306845 deg/s,
      cmd heading: 154.250670 deg,
      new cmd heading: 154.038171 deg.

2025-09-04T18:33:26.006Z,1757010806.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688473 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:26.246Z,1757010806.246 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.226886
2025-09-04T18:33:26.370Z,1757010806.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:26.398Z,1757010806.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 22.726271 m,
      bearing: 157.873563 deg,
      approach rate: -0.697017 m/s,
      LOS rate: -0.341225 deg/s,
      cmd heading: 154.038169 deg,
      new cmd heading: 153.752444 deg.

2025-09-04T18:33:26.399Z,1757010806.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683486 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:26.498Z,1757010806.498 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.479672
2025-09-04T18:33:26.750Z,1757010806.750 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.731939
2025-09-04T18:33:26.855Z,1757010806.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:26.857Z,1757010806.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:26.861Z,1757010806.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 22.404097 m,
      bearing: 157.711568 deg,
      approach rate: -0.661873 m/s,
      LOS rate: -0.337588 deg/s,
      cmd heading: 153.752449 deg,
      new cmd heading: 153.423803 deg.

2025-09-04T18:33:26.862Z,1757010806.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677751 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:27.001Z,1757010807.001 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.982673
2025-09-04T18:33:27.234Z,1757010807.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:27.237Z,1757010807.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 22.154337 m,
      bearing: 157.582677 deg,
      approach rate: -0.662768 m/s,
      LOS rate: -0.345884 deg/s,
      cmd heading: 153.423807 deg,
      new cmd heading: 153.163121 deg.

2025-09-04T18:33:27.238Z,1757010807.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673201 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:27.253Z,1757010807.253 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.234626
2025-09-04T18:33:27.507Z,1757010807.507 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.488090
2025-09-04T18:33:27.650Z,1757010807.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:27.653Z,1757010807.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 21.877329 m,
      bearing: 157.445761 deg,
      approach rate: -0.665202 m/s,
      LOS rate: -0.332950 deg/s,
      cmd heading: 153.163126 deg,
      new cmd heading: 152.885830 deg.

2025-09-04T18:33:27.654Z,1757010807.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668361 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:27.758Z,1757010807.758 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.739201
2025-09-04T18:33:28.012Z,1757010808.012 [DAT](INFO): DAT read: Rx Time:18:33:26.7120

2025-09-04T18:33:28.013Z,1757010808.013 [DAT](INFO): Rx dataTimestamp_ set to:1757010808.012625
2025-09-04T18:33:28.013Z,1757010808.013 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.995000
2025-09-04T18:33:28.032Z,1757010808.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:28.035Z,1757010808.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 21.623003 m,
      bearing: 157.317671 deg,
      approach rate: -0.666361 m/s,
      LOS rate: -0.339556 deg/s,
      cmd heading: 152.885834 deg,
      new cmd heading: 152.626643 deg.

2025-09-04T18:33:28.056Z,1757010808.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663837 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:28.266Z,1757010808.266 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.247643
2025-09-04T18:33:28.514Z,1757010808.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-04T18:33:28.532Z,1757010808.532 [DAT](INFO): DAT read: 18:33:26.7119 LVL= 21280, 27569, 19042, 27187, AGC= 64, IDX= 418, 0.21, 2.006, 0.505, 2.617, 1.993, PHS= 0.116,-1.443, 0.580, RAW= 162.7,   8.2, CAL= 162.3,   8.4, ROT= 347.7,  -8.4

2025-09-04T18:33:28.533Z,1757010808.533 [DAT](INFO): got valid direction response:
 18:33:26.7119 LVL= 21280, 27569, 19042, 27187, AGC= 64, IDX= 418, 0.21, 2.006, 0.505, 2.617, 1.993, PHS= 0.116,-1.443, 0.580, RAW= 162.7,   8.2, CAL= 162.3,   8.4, ROT= 347.7,  -8.4

2025-09-04T18:33:28.534Z,1757010808.534 [DAT](INFO): DAT read: Bearing 323.6, -15.1 (Local)

2025-09-04T18:33:28.534Z,1757010808.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.6, -15.1 (Local)

2025-09-04T18:33:28.538Z,1757010808.538 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m  (Round-trip  28.7 ms) speed  0.5 m/s

2025-09-04T18:33:28.539Z,1757010808.539 [DAT](INFO): DAT read: user:2854>

2025-09-04T18:33:28.539Z,1757010808.539 [DAT](INFO): DAT read: Tx time:18:33:27.8291

2025-09-04T18:33:28.540Z,1757010808.540 [DAT](INFO): Ping request sent.
2025-09-04T18:33:28.540Z,1757010808.540 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:28.540Z,1757010808.540 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-09-04T18:33:28.541Z,1757010808.541 [DAT](INFO): direction in FSK: [0.966564,-0.210745,0.146083]
2025-09-04T18:33:28.541Z,1757010808.541 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:28.542Z,1757010808.542 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:28.545Z,1757010808.545 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:28.545Z,1757010808.545 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:28.549Z,1757010808.549 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.009084
2025-09-04T18:33:28.554Z,1757010808.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.598808 m,
      nav range: 21.361609 m,
      bearing: 157.183032 deg,
      approach rate: -0.550678 m/s,
      LOS rate: -0.287113 deg/s,
      cmd heading: 152.626642 deg,
      new cmd heading: 152.354072 deg.

2025-09-04T18:33:28.555Z,1757010808.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659080 target range: 23.598808 and range: 23.70 m.
2025-09-04T18:33:28.774Z,1757010808.774 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.234476
2025-09-04T18:33:29.015Z,1757010809.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 3.533203 s,
      deltaX: -2.200001 m,
      approachRate: -0.622665 m/s,
      rangeRepo size: 4

2025-09-04T18:33:29.021Z,1757010809.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.407974 m,
      bearing: 144.528746 deg,
      lat: 36.779327 deg,
      lon: -121.859483 deg,
      deltaT: 3.533203 s,
      deltaX: -2.190834 m,
      approachRate: -0.620070 m/s,
      posRepo size: 4

2025-09-04T18:33:29.022Z,1757010809.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:29.025Z,1757010809.025 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.485240
2025-09-04T18:33:29.029Z,1757010809.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 21.295998 m,
      bearing: 149.463992 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.287113 deg/s,
      cmd heading: 152.354077 deg,
      new cmd heading: 152.062869 deg.

2025-09-04T18:33:29.030Z,1757010809.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653998 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:29.277Z,1757010809.277 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.737318
2025-09-04T18:33:29.369Z,1757010809.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:29.371Z,1757010809.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:29.374Z,1757010809.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 21.013594 m,
      bearing: 149.214430 deg,
      approach rate: -0.791285 m/s,
      LOS rate: -0.708658 deg/s,
      cmd heading: 152.062865 deg,
      new cmd heading: 151.557047 deg.

2025-09-04T18:33:29.375Z,1757010809.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.645169 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:29.531Z,1757010809.531 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.990910
2025-09-04T18:33:29.781Z,1757010809.781 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.241230
2025-09-04T18:33:29.797Z,1757010809.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:29.804Z,1757010809.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 20.745529 m,
      bearing: 148.974561 deg,
      approach rate: -0.628360 m/s,
      LOS rate: -0.569531 deg/s,
      cmd heading: 151.557048 deg,
      new cmd heading: 151.071125 deg.

2025-09-04T18:33:29.805Z,1757010809.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636688 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:30.034Z,1757010810.034 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.494511
2025-09-04T18:33:30.180Z,1757010810.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:30.183Z,1757010810.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 20.485867 m,
      bearing: 148.735896 deg,
      approach rate: -0.679071 m/s,
      LOS rate: -0.632068 deg/s,
      cmd heading: 151.071121 deg,
      new cmd heading: 150.587754 deg.

2025-09-04T18:33:30.184Z,1757010810.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628252 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:30.286Z,1757010810.286 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.746282
2025-09-04T18:33:30.537Z,1757010810.537 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.997024
2025-09-04T18:33:30.606Z,1757010810.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:30.610Z,1757010810.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 20.206232 m,
      bearing: 148.473002 deg,
      approach rate: -0.656220 m/s,
      LOS rate: -0.625471 deg/s,
      cmd heading: 150.587749 deg,
      new cmd heading: 150.054701 deg.

2025-09-04T18:33:30.616Z,1757010810.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618949 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:30.790Z,1757010810.790 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.249624
2025-09-04T18:33:31.041Z,1757010811.041 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.501256
2025-09-04T18:33:31.084Z,1757010811.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:31.087Z,1757010811.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 19.892580 m,
      bearing: 148.173573 deg,
      approach rate: -0.656571 m/s,
      LOS rate: -0.636678 deg/s,
      cmd heading: 150.054707 deg,
      new cmd heading: 149.446432 deg.

2025-09-04T18:33:31.089Z,1757010811.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608332 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:31.293Z,1757010811.293 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.753070
2025-09-04T18:33:31.542Z,1757010811.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:33:31.548Z,1757010811.548 [DAT](INFO): DAT read: Rx Time:18:33:30.2588

2025-09-04T18:33:31.549Z,1757010811.549 [DAT](INFO): Rx dataTimestamp_ set to:1757010811.548542
2025-09-04T18:33:31.552Z,1757010811.552 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.011261
2025-09-04T18:33:31.564Z,1757010811.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:31.566Z,1757010811.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-04T18:33:31.573Z,1757010811.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.407974 m,
      nav range: 19.623177 m,
      bearing: 147.910514 deg,
      approach rate: -0.557874 m/s,
      LOS rate: -0.552213 deg/s,
      cmd heading: 149.446438 deg,
      new cmd heading: 148.913114 deg.

2025-09-04T18:33:31.574Z,1757010811.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599024 target range: 21.407974 and range: 21.50 m.
2025-09-04T18:33:31.798Z,1757010811.798 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.258341
2025-09-04T18:33:32.084Z,1757010812.084 [DAT](INFO): DAT read: 18:33:30.2588 LVL= 24816, 30673, 19922, 30611, AGC= 64, IDX= 403, 0.01, 2.295, 0.831, 3.078, 2.345, PHS= 0.052,-1.469, 0.690, RAW= 166.7,   7.6, CAL= 166.3,   7.6, ROT= 343.7,  -7.6

2025-09-04T18:33:32.085Z,1757010812.085 [DAT](INFO): got valid direction response:
 18:33:30.2588 LVL= 24816, 30673, 19922, 30611, AGC= 64, IDX= 403, 0.01, 2.295, 0.831, 3.078, 2.345, PHS= 0.052,-1.469, 0.690, RAW= 166.7,   7.6, CAL= 166.3,   7.6, ROT= 343.7,  -7.6

2025-09-04T18:33:32.086Z,1757010812.086 [DAT](INFO): DAT read: Bearing 321.9, -18.7 (Local)

2025-09-04T18:33:32.087Z,1757010812.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9, -18.7 (Local)

2025-09-04T18:33:32.096Z,1757010812.096 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m  (Round-trip  25.6 ms) speed  0.6 m/s

2025-09-04T18:33:32.097Z,1757010812.097 [DAT](INFO): DAT read: user:2855>

2025-09-04T18:33:32.098Z,1757010812.098 [DAT](INFO): DAT read: Tx time:18:33:31.3791

2025-09-04T18:33:32.098Z,1757010812.098 [DAT](INFO): Ping request sent.
2025-09-04T18:33:32.098Z,1757010812.098 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:32.099Z,1757010812.099 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-09-04T18:33:32.099Z,1757010812.099 [DAT](INFO): direction in FSK: [0.951374,-0.278201,0.132256]
2025-09-04T18:33:32.116Z,1757010812.116 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:32.116Z,1757010812.116 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:32.119Z,1757010812.119 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:32.119Z,1757010812.119 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:32.139Z,1757010812.139 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.040750
2025-09-04T18:33:32.232Z,1757010812.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 3.531538 s,
      deltaX: -2.299999 m,
      approachRate: -0.651274 m/s,
      rangeRepo size: 4

2025-09-04T18:33:32.234Z,1757010812.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.118147 m,
      bearing: 139.757149 deg,
      lat: 36.779330 deg,
      lon: -121.859482 deg,
      deltaT: 3.531538 s,
      deltaX: -2.289827 m,
      approachRate: -0.648394 m/s,
      posRepo size: 4

2025-09-04T18:33:32.235Z,1757010812.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:32.246Z,1757010812.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 18.887276 m,
      bearing: 146.656033 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.552213 deg/s,
      cmd heading: 148.913109 deg,
      new cmd heading: 148.187699 deg.

2025-09-04T18:33:32.247Z,1757010812.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586363 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:32.302Z,1757010812.302 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.203760
2025-09-04T18:33:32.546Z,1757010812.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:33:32.557Z,1757010812.557 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.457936
2025-09-04T18:33:32.713Z,1757010812.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:32.715Z,1757010812.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 18.556341 m,
      bearing: 146.294413 deg,
      approach rate: -0.682659 m/s,
      LOS rate: -0.759256 deg/s,
      cmd heading: 148.187702 deg,
      new cmd heading: 147.451609 deg.

2025-09-04T18:33:32.721Z,1757010812.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573516 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:32.805Z,1757010812.805 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.706741
2025-09-04T18:33:33.057Z,1757010813.057 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.958755
2025-09-04T18:33:33.118Z,1757010813.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:33.126Z,1757010813.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 18.293999 m,
      bearing: 146.004536 deg,
      approach rate: -0.639668 m/s,
      LOS rate: -0.716936 deg/s,
      cmd heading: 147.451613 deg,
      new cmd heading: 146.863569 deg.

2025-09-04T18:33:33.127Z,1757010813.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563253 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:33.309Z,1757010813.309 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.210948
2025-09-04T18:33:33.564Z,1757010813.564 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.464847
2025-09-04T18:33:33.593Z,1757010813.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:33.596Z,1757010813.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:33.603Z,1757010813.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 18.017427 m,
      bearing: 145.693281 deg,
      approach rate: -0.579399 m/s,
      LOS rate: -0.662066 deg/s,
      cmd heading: 146.863574 deg,
      new cmd heading: 146.231536 deg.

2025-09-04T18:33:33.608Z,1757010813.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552222 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:33.817Z,1757010813.817 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.718248
2025-09-04T18:33:34.040Z,1757010814.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:34.043Z,1757010814.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 17.687754 m,
      bearing: 145.323738 deg,
      approach rate: -0.748330 m/s,
      LOS rate: -0.854456 deg/s,
      cmd heading: 146.231536 deg,
      new cmd heading: 145.478725 deg.

2025-09-04T18:33:34.048Z,1757010814.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539083 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:34.065Z,1757010814.065 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.967013
2025-09-04T18:33:34.317Z,1757010814.317 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.218583
2025-09-04T18:33:34.342Z,1757010814.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:34.365Z,1757010814.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 17.478273 m,
      bearing: 145.084675 deg,
      approach rate: -0.684619 m/s,
      LOS rate: -0.790663 deg/s,
      cmd heading: 145.478726 deg,
      new cmd heading: 144.994882 deg.

2025-09-04T18:33:34.366Z,1757010814.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530638 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:34.573Z,1757010814.573 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.473559
2025-09-04T18:33:34.821Z,1757010814.821 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.722811
2025-09-04T18:33:34.970Z,1757010814.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:34.975Z,1757010814.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 17.086306 m,
      bearing: 144.619742 deg,
      approach rate: -0.625068 m/s,
      LOS rate: -0.758425 deg/s,
      cmd heading: 144.994876 deg,
      new cmd heading: 144.043776 deg.

2025-09-04T18:33:34.977Z,1757010814.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514038 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:35.074Z,1757010815.074 [DAT](INFO): DAT read: Rx Time:18:33:33.8058

2025-09-04T18:33:35.074Z,1757010815.074 [DAT](INFO): Rx dataTimestamp_ set to:1757010815.074185
2025-09-04T18:33:35.075Z,1757010815.075 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.977092
2025-09-04T18:33:35.325Z,1757010815.325 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.226789
2025-09-04T18:33:35.341Z,1757010815.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:35.343Z,1757010815.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 16.819815 m,
      bearing: 144.300596 deg,
      approach rate: -0.717656 m/s,
      LOS rate: -0.873070 deg/s,
      cmd heading: 144.043772 deg,
      new cmd heading: 143.395397 deg.

2025-09-04T18:33:35.345Z,1757010815.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502722 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:35.585Z,1757010815.585 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.485891
2025-09-04T18:33:35.775Z,1757010815.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:35.777Z,1757010815.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-04T18:33:35.780Z,1757010815.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.118147 m,
      nav range: 16.539860 m,
      bearing: 143.934746 deg,
      approach rate: -0.640745 m/s,
      LOS rate: -0.851504 deg/s,
      cmd heading: 143.395396 deg,
      new cmd heading: 142.651357 deg.

2025-09-04T18:33:35.781Z,1757010815.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489736 target range: 19.118147 and range: 19.20 m.
2025-09-04T18:33:35.837Z,1757010815.837 [DAT](INFO): DAT read: 18:33:33.8058 LVL= 26096, 25585, 21970, 32755, AGC= 62, IDX= 404, 0.35, 0.551,-0.868, 1.381, 0.624, PHS= 0.029,-1.447, 0.714, RAW= 168.1,   7.4, CAL= 167.6,   7.3, ROT= 342.4,  -7.3

2025-09-04T18:33:35.839Z,1757010815.839 [DAT](INFO): got valid direction response:
 18:33:33.8058 LVL= 26096, 25585, 21970, 32755, AGC= 62, IDX= 404, 0.35, 0.551,-0.868, 1.381, 0.624, PHS= 0.029,-1.447, 0.714, RAW= 168.1,   7.4, CAL= 167.6,   7.3, ROT= 342.4,  -7.3

2025-09-04T18:33:35.840Z,1757010815.840 [DAT](INFO): DAT read: Bearing 319.2, -19.4 (Local)

2025-09-04T18:33:35.840Z,1757010815.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.2, -19.4 (Local)

2025-09-04T18:33:35.842Z,1757010815.842 [DAT](INFO): DAT read: Range 11 to 50 : 16.9 m  (Round-trip  22.6 ms) speed  0.5 m/s

2025-09-04T18:33:35.843Z,1757010815.843 [DAT](INFO): DAT read: user:2856>

2025-09-04T18:33:35.843Z,1757010815.843 [DAT](INFO): DAT read: Tx time:18:33:34.9291

2025-09-04T18:33:35.844Z,1757010815.844 [DAT](INFO): Ping request sent.
2025-09-04T18:33:35.844Z,1757010815.844 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:35.844Z,1757010815.844 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-09-04T18:33:35.845Z,1757010815.845 [DAT](INFO): direction in FSK: [0.945465,-0.299919,0.127065]
2025-09-04T18:33:35.845Z,1757010815.845 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:35.846Z,1757010815.846 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:35.849Z,1757010815.849 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:35.849Z,1757010815.849 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:35.858Z,1757010815.858 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.013977
2025-09-04T18:33:36.081Z,1757010816.081 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.237511
2025-09-04T18:33:36.203Z,1757010816.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.900000 m,
      deltaT: 3.778607 s,
      deltaX: -2.300001 m,
      approachRate: -0.608690 m/s,
      rangeRepo size: 4

2025-09-04T18:33:36.210Z,1757010816.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.827934 m,
      bearing: 136.038606 deg,
      lat: 36.779336 deg,
      lon: -121.859466 deg,
      deltaT: 3.778607 s,
      deltaX: -2.290213 m,
      approachRate: -0.606100 m/s,
      posRepo size: 4

2025-09-04T18:33:36.211Z,1757010816.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:36.225Z,1757010816.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 16.715240 m,
      bearing: 138.304541 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.851504 deg/s,
      cmd heading: 142.651356 deg,
      new cmd heading: 141.927772 deg.

2025-09-04T18:33:36.226Z,1757010816.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477107 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:36.333Z,1757010816.333 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.489325
2025-09-04T18:33:36.586Z,1757010816.586 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.742033
2025-09-04T18:33:36.629Z,1757010816.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:36.636Z,1757010816.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 16.468344 m,
      bearing: 137.887666 deg,
      approach rate: -0.579029 m/s,
      LOS rate: -0.992315 deg/s,
      cmd heading: 141.927779 deg,
      new cmd heading: 141.081598 deg.

2025-09-04T18:33:36.637Z,1757010816.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462338 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:36.838Z,1757010816.838 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.993807
2025-09-04T18:33:37.003Z,1757010817.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:37.006Z,1757010817.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 16.208769 m,
      bearing: 137.409925 deg,
      approach rate: -0.693218 m/s,
      LOS rate: -1.296268 deg/s,
      cmd heading: 141.081601 deg,
      new cmd heading: 140.110921 deg.

2025-09-04T18:33:37.007Z,1757010817.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445397 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:37.090Z,1757010817.090 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.246483
2025-09-04T18:33:37.341Z,1757010817.341 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.497302
2025-09-04T18:33:37.410Z,1757010817.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:37.426Z,1757010817.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 15.988977 m,
      bearing: 136.991548 deg,
      approach rate: -0.540098 m/s,
      LOS rate: -1.042211 deg/s,
      cmd heading: 140.110922 deg,
      new cmd heading: 139.262734 deg.

2025-09-04T18:33:37.427Z,1757010817.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430593 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:37.596Z,1757010817.596 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.751533
2025-09-04T18:33:37.789Z,1757010817.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:37.791Z,1757010817.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:37.794Z,1757010817.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 15.742159 m,
      bearing: 136.529932 deg,
      approach rate: -0.647644 m/s,
      LOS rate: -1.230244 deg/s,
      cmd heading: 139.262735 deg,
      new cmd heading: 138.325122 deg.

2025-09-04T18:33:37.795Z,1757010817.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414229 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:37.846Z,1757010817.846 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.002589
2025-09-04T18:33:38.097Z,1757010818.097 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.253182
2025-09-04T18:33:38.173Z,1757010818.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:38.176Z,1757010818.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 15.515674 m,
      bearing: 136.100917 deg,
      approach rate: -0.594657 m/s,
      LOS rate: -1.142849 deg/s,
      cmd heading: 138.325128 deg,
      new cmd heading: 137.454648 deg.

2025-09-04T18:33:38.177Z,1757010818.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399036 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:38.349Z,1757010818.349 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.505446
2025-09-04T18:33:38.606Z,1757010818.606 [DAT](INFO): DAT read: Rx Time:18:33:37.3528

2025-09-04T18:33:38.608Z,1757010818.608 [DAT](INFO): Rx dataTimestamp_ set to:1757010818.606692
2025-09-04T18:33:38.610Z,1757010818.610 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.766273
2025-09-04T18:33:38.677Z,1757010818.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:38.679Z,1757010818.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 15.231329 m,
      bearing: 135.554657 deg,
      approach rate: -0.563761 m/s,
      LOS rate: -1.103255 deg/s,
      cmd heading: 137.454647 deg,
      new cmd heading: 136.341888 deg.

2025-09-04T18:33:38.688Z,1757010818.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379615 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:38.853Z,1757010818.853 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.009285
2025-09-04T18:33:39.105Z,1757010819.105 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.261269
2025-09-04T18:33:39.242Z,1757010819.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.83 m.
2025-09-04T18:33:39.245Z,1757010819.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.827934 m,
      nav range: 14.883206 m,
      bearing: 134.866265 deg,
      approach rate: -0.615973 m/s,
      LOS rate: -1.246510 deg/s,
      cmd heading: 136.341887 deg,
      new cmd heading: 134.933218 deg.

2025-09-04T18:33:39.246Z,1757010819.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.355029 target range: 16.827934 and range: 16.90 m.
2025-09-04T18:33:39.363Z,1757010819.363 [DAT](INFO): DAT read: 18:33:37.3528 LVL= 25264, 31505, 20466, 29587, AGC= 58, IDX= 405, 0.13,-0.907,-2.341,-0.105,-0.863, PHS= 0.059,-1.433, 0.714, RAW= 167.3,   7.0, CAL= 166.8,   6.7, ROT= 343.2,  -6.7

2025-09-04T18:33:39.365Z,1757010819.365 [DAT](INFO): got valid direction response:
 18:33:37.3528 LVL= 25264, 31505, 20466, 29587, AGC= 58, IDX= 405, 0.13,-0.907,-2.341,-0.105,-0.863, PHS= 0.059,-1.433, 0.714, RAW= 167.3,   7.0, CAL= 166.8,   6.7, ROT= 343.2,  -6.7

2025-09-04T18:33:39.366Z,1757010819.366 [DAT](INFO): DAT read: Bearing 314.4, -17.8 (Local)

2025-09-04T18:33:39.366Z,1757010819.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4, -17.8 (Local)

2025-09-04T18:33:39.367Z,1757010819.367 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m  (Round-trip  19.6 ms) speed  0.5 m/s

2025-09-04T18:33:39.368Z,1757010819.368 [DAT](INFO): DAT read: user:2857>

2025-09-04T18:33:39.369Z,1757010819.369 [DAT](INFO): DAT read: Tx time:18:33:38.4791

2025-09-04T18:33:39.369Z,1757010819.369 [DAT](INFO): Ping request sent.
2025-09-04T18:33:39.369Z,1757010819.369 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:39.370Z,1757010819.370 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-09-04T18:33:39.371Z,1757010819.371 [DAT](INFO): direction in FSK: [0.950782,-0.287058,0.116671]
2025-09-04T18:33:39.371Z,1757010819.371 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:39.371Z,1757010819.371 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:39.374Z,1757010819.374 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:39.375Z,1757010819.375 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:39.378Z,1757010819.378 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.008716
2025-09-04T18:33:39.609Z,1757010819.609 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.239780
2025-09-04T18:33:39.689Z,1757010819.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 3.528125 s,
      deltaX: -2.200000 m,
      approachRate: -0.623561 m/s,
      rangeRepo size: 4

2025-09-04T18:33:39.691Z,1757010819.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.637264 m,
      bearing: 132.430202 deg,
      lat: 36.779340 deg,
      lon: -121.859463 deg,
      deltaT: 3.528125 s,
      deltaX: -2.190670 m,
      approachRate: -0.620916 m/s,
      posRepo size: 4

2025-09-04T18:33:39.691Z,1757010819.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:39.698Z,1757010819.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 14.493166 m,
      bearing: 132.472965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.246510 deg/s,
      cmd heading: 134.933215 deg,
      new cmd heading: 133.830783 deg.

2025-09-04T18:33:39.699Z,1757010819.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.335788 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:39.861Z,1757010819.861 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.491893
2025-09-04T18:33:40.083Z,1757010820.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:40.086Z,1757010820.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:40.089Z,1757010820.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 14.232394 m,
      bearing: 131.881280 deg,
      approach rate: -0.649303 m/s,
      LOS rate: -1.500219 deg/s,
      cmd heading: 133.830781 deg,
      new cmd heading: 132.625929 deg.

2025-09-04T18:33:40.089Z,1757010820.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314759 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:40.113Z,1757010820.113 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.743566
2025-09-04T18:33:40.365Z,1757010820.365 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.995729
2025-09-04T18:33:40.510Z,1757010820.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:40.517Z,1757010820.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 14.006737 m,
      bearing: 131.362976 deg,
      approach rate: -0.531709 m/s,
      LOS rate: -1.240922 deg/s,
      cmd heading: 132.625922 deg,
      new cmd heading: 131.572746 deg.

2025-09-04T18:33:40.518Z,1757010820.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296378 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:40.620Z,1757010820.620 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.250040
2025-09-04T18:33:40.869Z,1757010820.869 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.499668
2025-09-04T18:33:40.925Z,1757010820.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:40.928Z,1757010820.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 13.758400 m,
      bearing: 130.783300 deg,
      approach rate: -0.598467 m/s,
      LOS rate: -1.422152 deg/s,
      cmd heading: 131.572748 deg,
      new cmd heading: 130.392657 deg.

2025-09-04T18:33:40.929Z,1757010820.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275781 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:41.125Z,1757010821.125 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.755773
2025-09-04T18:33:41.306Z,1757010821.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:41.309Z,1757010821.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 13.545961 m,
      bearing: 130.294166 deg,
      approach rate: -0.557981 m/s,
      LOS rate: -1.304868 deg/s,
      cmd heading: 130.392655 deg,
      new cmd heading: 129.399158 deg.

2025-09-04T18:33:41.310Z,1757010821.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258441 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:41.379Z,1757010821.379 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.009280
2025-09-04T18:33:41.633Z,1757010821.633 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.263282
2025-09-04T18:33:41.773Z,1757010821.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:41.775Z,1757010821.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 13.288700 m,
      bearing: 129.697417 deg,
      approach rate: -0.550852 m/s,
      LOS rate: -1.302484 deg/s,
      cmd heading: 129.399163 deg,
      new cmd heading: 128.182763 deg.

2025-09-04T18:33:41.781Z,1757010821.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237211 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:41.882Z,1757010821.882 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.512621
2025-09-04T18:33:42.086Z,1757010822.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:42.089Z,1757010822.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:42.092Z,1757010822.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 13.098618 m,
      bearing: 129.252552 deg,
      approach rate: -0.601031 m/s,
      LOS rate: -1.427036 deg/s,
      cmd heading: 128.182761 deg,
      new cmd heading: 127.280204 deg.

2025-09-04T18:33:42.097Z,1757010822.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221459 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:42.133Z,1757010822.133 [DAT](INFO): DAT read: Rx Time:18:33:40.9000

2025-09-04T18:33:42.134Z,1757010822.134 [DAT](INFO): Rx dataTimestamp_ set to:1757010822.133290
2025-09-04T18:33:42.134Z,1757010822.134 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.764808
2025-09-04T18:33:42.386Z,1757010822.386 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.017151
2025-09-04T18:33:42.517Z,1757010822.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-04T18:33:42.520Z,1757010822.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.637264 m,
      nav range: 12.854982 m,
      bearing: 128.678417 deg,
      approach rate: -0.569481 m/s,
      LOS rate: -1.367413 deg/s,
      cmd heading: 127.280206 deg,
      new cmd heading: 126.110356 deg.

2025-09-04T18:33:42.521Z,1757010822.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201041 target range: 14.637264 and range: 14.70 m.
2025-09-04T18:33:42.639Z,1757010822.639 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.269588
2025-09-04T18:33:42.895Z,1757010822.895 [DAT](INFO): DAT read: 18:33:40.9000 LVL= 26048, 27073, 24034, 32755, AGC= 55, IDX= 408, 0.20, 1.407,-0.050, 2.181, 1.458, PHS= 0.050,-1.463, 0.679, RAW= 166.6,   7.8, CAL= 166.2,   7.8, ROT= 343.8,  -7.8

2025-09-04T18:33:42.896Z,1757010822.896 [DAT](INFO): got valid direction response:
 18:33:40.9000 LVL= 26048, 27073, 24034, 32755, AGC= 55, IDX= 408, 0.20, 1.407,-0.050, 2.181, 1.458, PHS= 0.050,-1.463, 0.679, RAW= 166.6,   7.8, CAL= 166.2,   7.8, ROT= 343.8,  -7.8

2025-09-04T18:33:42.897Z,1757010822.897 [DAT](INFO): DAT read: Bearing 310.0, -16.5 (Local)

2025-09-04T18:33:42.897Z,1757010822.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.0, -16.5 (Local)

2025-09-04T18:33:42.899Z,1757010822.899 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m  (Round-trip  16.7 ms) speed  0.5 m/s

2025-09-04T18:33:42.899Z,1757010822.899 [DAT](INFO): DAT read: user:2858>

2025-09-04T18:33:42.900Z,1757010822.900 [DAT](INFO): DAT read: Tx time:18:33:42.0291

2025-09-04T18:33:42.901Z,1757010822.901 [DAT](INFO): Ping request sent.
2025-09-04T18:33:42.901Z,1757010822.901 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:42.901Z,1757010822.901 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-09-04T18:33:42.902Z,1757010822.902 [DAT](INFO): direction in FSK: [0.951409,-0.276410,0.135716]
2025-09-04T18:33:42.902Z,1757010822.902 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:42.902Z,1757010822.902 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:42.910Z,1757010822.910 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:42.910Z,1757010822.910 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:42.913Z,1757010822.913 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.012572
2025-09-04T18:33:43.050Z,1757010823.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 3.531831 s,
      deltaX: -2.200000 m,
      approachRate: -0.622906 m/s,
      rangeRepo size: 4

2025-09-04T18:33:43.052Z,1757010823.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.446674 m,
      bearing: 128.539747 deg,
      lat: 36.779341 deg,
      lon: -121.859463 deg,
      deltaT: 3.531831 s,
      deltaX: -2.190590 m,
      approachRate: -0.620242 m/s,
      posRepo size: 4

2025-09-04T18:33:43.057Z,1757010823.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:43.059Z,1757010823.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 12.554900 m,
      bearing: 127.903196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.367413 deg/s,
      cmd heading: 126.110359 deg,
      new cmd heading: 124.654834 deg.

2025-09-04T18:33:43.065Z,1757010823.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.175637 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:43.141Z,1757010823.141 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.240417
2025-09-04T18:33:43.393Z,1757010823.393 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.492443
2025-09-04T18:33:43.431Z,1757010823.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:43.445Z,1757010823.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 12.349218 m,
      bearing: 127.367360 deg,
      approach rate: -0.538953 m/s,
      LOS rate: -1.427428 deg/s,
      cmd heading: 124.654832 deg,
      new cmd heading: 123.565459 deg.

2025-09-04T18:33:43.447Z,1757010823.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156624 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:43.646Z,1757010823.646 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.745669
2025-09-04T18:33:43.815Z,1757010823.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:43.818Z,1757010823.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 12.117617 m,
      bearing: 126.827737 deg,
      approach rate: -0.602267 m/s,
      LOS rate: -1.430057 deg/s,
      cmd heading: 123.565458 deg,
      new cmd heading: 122.465736 deg.

2025-09-04T18:33:43.819Z,1757010823.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.137430 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:43.898Z,1757010823.898 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.997376
2025-09-04T18:33:44.149Z,1757010824.149 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.248426
2025-09-04T18:33:44.214Z,1757010824.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:44.217Z,1757010824.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:44.219Z,1757010824.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 11.894952 m,
      bearing: 126.304778 deg,
      approach rate: -0.555887 m/s,
      LOS rate: -1.329999 deg/s,
      cmd heading: 122.465729 deg,
      new cmd heading: 121.400369 deg.

2025-09-04T18:33:44.221Z,1757010824.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118836 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:44.402Z,1757010824.402 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.501425
2025-09-04T18:33:44.610Z,1757010824.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:44.649Z,1757010824.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 11.663113 m,
      bearing: 125.756641 deg,
      approach rate: -0.588784 m/s,
      LOS rate: -1.419711 deg/s,
      cmd heading: 121.400370 deg,
      new cmd heading: 120.282463 deg.

2025-09-04T18:33:44.650Z,1757010824.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099325 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:44.653Z,1757010824.653 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.752429
2025-09-04T18:33:44.906Z,1757010824.906 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.005266
2025-09-04T18:33:45.066Z,1757010825.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:45.069Z,1757010825.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 11.407799 m,
      bearing: 125.131770 deg,
      approach rate: -0.559349 m/s,
      LOS rate: -1.399596 deg/s,
      cmd heading: 120.282459 deg,
      new cmd heading: 119.004985 deg.

2025-09-04T18:33:45.070Z,1757010825.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077029 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:45.158Z,1757010825.158 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.257493
2025-09-04T18:33:45.409Z,1757010825.409 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.508647
2025-09-04T18:33:45.490Z,1757010825.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:45.499Z,1757010825.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 11.179484 m,
      bearing: 124.566130 deg,
      approach rate: -0.538630 m/s,
      LOS rate: -1.361665 deg/s,
      cmd heading: 119.004981 deg,
      new cmd heading: 117.850772 deg.

2025-09-04T18:33:45.504Z,1757010825.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056884 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:45.661Z,1757010825.661 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760554
2025-09-04T18:33:45.885Z,1757010825.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:45.888Z,1757010825.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 10.947452 m,
      bearing: 124.050906 deg,
      approach rate: -0.586762 m/s,
      LOS rate: -1.330491 deg/s,
      cmd heading: 117.850775 deg,
      new cmd heading: 116.798618 deg.

2025-09-04T18:33:45.889Z,1757010825.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038520 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:45.913Z,1757010825.913 [DAT](INFO): DAT read: Rx Time:18:33:44.4472

2025-09-04T18:33:45.914Z,1757010825.914 [DAT](INFO): Rx dataTimestamp_ set to:1757010825.913263
2025-09-04T18:33:45.915Z,1757010825.915 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.013861
2025-09-04T18:33:46.165Z,1757010826.165 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.264311
2025-09-04T18:33:46.375Z,1757010826.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:46.378Z,1757010826.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-04T18:33:46.381Z,1757010826.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.446674 m,
      nav range: 10.678659 m,
      bearing: 123.423351 deg,
      approach rate: -0.546048 m/s,
      LOS rate: -1.306934 deg/s,
      cmd heading: 116.798612 deg,
      new cmd heading: 115.512152 deg.

2025-09-04T18:33:46.381Z,1757010826.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.016067 target range: 12.446674 and range: 12.50 m.
2025-09-04T18:33:46.424Z,1757010826.424 [DAT](INFO): DAT read: 18:33:44.4472 LVL= 21392, 24625, 24034, 32243, AGC= 51, IDX= 413,-0.23, 0.469,-1.047, 0.997, 0.482, PHS= 0.089,-1.484, 0.471, RAW= 160.6,  10.3, CAL= 160.6,  11.2, ROT= 349.4, -11.2

2025-09-04T18:33:46.425Z,1757010826.425 [DAT](INFO): got valid direction response:
 18:33:44.4472 LVL= 21392, 24625, 24034, 32243, AGC= 51, IDX= 413,-0.23, 0.469,-1.047, 0.997, 0.482, PHS= 0.089,-1.484, 0.471, RAW= 160.6,  10.3, CAL= 160.6,  11.2, ROT= 349.4, -11.2

2025-09-04T18:33:46.426Z,1757010826.426 [DAT](INFO): DAT read: Bearing 307.4, -10.8 (Local)

2025-09-04T18:33:46.426Z,1757010826.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.4, -10.8 (Local)

2025-09-04T18:33:46.428Z,1757010826.428 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m  (Round-trip  14.1 ms) speed  0.5 m/s

2025-09-04T18:33:46.429Z,1757010826.429 [DAT](INFO): DAT read: user:2859>

2025-09-04T18:33:46.431Z,1757010826.431 [DAT](INFO): DAT read: Tx time:18:33:45.5290

2025-09-04T18:33:46.431Z,1757010826.431 [DAT](INFO): Ping request sent.
2025-09-04T18:33:46.431Z,1757010826.431 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:46.433Z,1757010826.433 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-09-04T18:33:46.435Z,1757010826.435 [DAT](INFO): direction in FSK: [0.964215,-0.180448,0.194234]
2025-09-04T18:33:46.440Z,1757010826.440 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:46.441Z,1757010826.441 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:46.456Z,1757010826.456 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:46.506Z,1757010826.506 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:46.511Z,1757010826.511 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.080107
2025-09-04T18:33:46.670Z,1757010826.670 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.238469
2025-09-04T18:33:46.921Z,1757010826.921 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.489634
2025-09-04T18:33:46.942Z,1757010826.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 3.528872 s,
      deltaX: -2.000000 m,
      approachRate: -0.566753 m/s,
      rangeRepo size: 4

2025-09-04T18:33:46.955Z,1757010826.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.455166 m,
      bearing: 125.265099 deg,
      lat: 36.779341 deg,
      lon: -121.859463 deg,
      deltaT: 3.528872 s,
      deltaX: -1.991508 m,
      approachRate: -0.564347 m/s,
      posRepo size: 4

2025-09-04T18:33:46.964Z,1757010826.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:46.975Z,1757010826.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 10.381861 m,
      bearing: 122.754815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.306934 deg/s,
      cmd heading: 115.512146 deg,
      new cmd heading: 114.064374 deg.

2025-09-04T18:33:46.976Z,1757010826.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990799 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:47.174Z,1757010827.174 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.742578
2025-09-04T18:33:47.438Z,1757010827.438 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.006310
2025-09-04T18:33:47.486Z,1757010827.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:47.495Z,1757010827.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 10.050675 m,
      bearing: 121.993582 deg,
      approach rate: -0.597386 m/s,
      LOS rate: -1.418301 deg/s,
      cmd heading: 114.064371 deg,
      new cmd heading: 112.492179 deg.

2025-09-04T18:33:47.501Z,1757010827.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963359 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:47.689Z,1757010827.689 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.257892
2025-09-04T18:33:47.881Z,1757010827.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:47.884Z,1757010827.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 9.817939 m,
      bearing: 121.424393 deg,
      approach rate: -0.588989 m/s,
      LOS rate: -1.474573 deg/s,
      cmd heading: 112.492177 deg,
      new cmd heading: 111.326995 deg.

2025-09-04T18:33:47.885Z,1757010827.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943023 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:47.943Z,1757010827.943 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.511391
2025-09-04T18:33:48.193Z,1757010828.193 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.761634
2025-09-04T18:33:48.261Z,1757010828.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:48.263Z,1757010828.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 9.604443 m,
      bearing: 120.947980 deg,
      approach rate: -0.562516 m/s,
      LOS rate: -1.283133 deg/s,
      cmd heading: 111.326995 deg,
      new cmd heading: 110.353093 deg.

2025-09-04T18:33:48.265Z,1757010828.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.926025 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:48.446Z,1757010828.446 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.014302
2025-09-04T18:33:48.672Z,1757010828.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:48.674Z,1757010828.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:48.677Z,1757010828.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 9.384359 m,
      bearing: 120.432471 deg,
      approach rate: -0.531831 m/s,
      LOS rate: -1.274924 deg/s,
      cmd heading: 110.353092 deg,
      new cmd heading: 109.298028 deg.

2025-09-04T18:33:48.678Z,1757010828.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907610 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:48.697Z,1757010828.697 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.265738
2025-09-04T18:33:48.951Z,1757010828.951 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.519274
2025-09-04T18:33:49.083Z,1757010829.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:49.086Z,1757010829.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 9.147042 m,
      bearing: 119.883917 deg,
      approach rate: -0.581155 m/s,
      LOS rate: -1.378162 deg/s,
      cmd heading: 109.298026 deg,
      new cmd heading: 108.172615 deg.

2025-09-04T18:33:49.087Z,1757010829.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.887968 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:49.202Z,1757010829.202 [DAT](INFO): DAT read: Rx Time:18:33:47.9445

2025-09-04T18:33:49.203Z,1757010829.203 [DAT](INFO): Rx dataTimestamp_ set to:1757010829.202275
2025-09-04T18:33:49.203Z,1757010829.203 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.772111
2025-09-04T18:33:49.455Z,1757010829.455 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.023276
2025-09-04T18:33:49.493Z,1757010829.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:49.497Z,1757010829.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 8.922874 m,
      bearing: 119.363153 deg,
      approach rate: -0.547776 m/s,
      LOS rate: -1.304488 deg/s,
      cmd heading: 108.172616 deg,
      new cmd heading: 107.105060 deg.

2025-09-04T18:33:49.499Z,1757010829.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869336 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:49.709Z,1757010829.709 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.276958
2025-09-04T18:33:49.898Z,1757010829.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.46 m.
2025-09-04T18:33:49.900Z,1757010829.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.455166 m,
      nav range: 8.699778 m,
      bearing: 118.801736 deg,
      approach rate: -0.550221 m/s,
      LOS rate: -1.420099 deg/s,
      cmd heading: 107.105057 deg,
      new cmd heading: 105.953603 deg.

2025-09-04T18:33:49.901Z,1757010829.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849239 target range: 10.455166 and range: 10.50 m.
2025-09-04T18:33:49.963Z,1757010829.963 [DAT](INFO): DAT read: 18:33:47.9445 LVL= 26352, 32753, 26930, 32755, AGC= 51, IDX= 417, 0.07, 1.012,-0.767, 1.135, 0.912, PHS= 0.202,-1.634, 0.178, RAW= 149.4,  13.7, CAL= 149.4,  15.1, ROT=   0.6, -15.1

2025-09-04T18:33:49.965Z,1757010829.965 [DAT](INFO): got valid direction response:
 18:33:47.9445 LVL= 26352, 32753, 26930, 32755, AGC= 51, IDX= 417, 0.07, 1.012,-0.767, 1.135, 0.912, PHS= 0.202,-1.634, 0.178, RAW= 149.4,  13.7, CAL= 149.4,  15.1, ROT=   0.6, -15.1

2025-09-04T18:33:49.966Z,1757010829.966 [DAT](INFO): DAT read: Bearing 304.0,  -0.4 (Local)

2025-09-04T18:33:49.966Z,1757010829.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.0,  -0.4 (Local)

2025-09-04T18:33:49.967Z,1757010829.967 [DAT](INFO): DAT read: Range 11 to 50 : 8.5 m  (Round-trip  11.4 ms) speed  0.4 m/s

2025-09-04T18:33:49.968Z,1757010829.968 [DAT](INFO): DAT read: user:2860>

2025-09-04T18:33:49.969Z,1757010829.969 [DAT](INFO): DAT read: Tx time:18:33:49.0790

2025-09-04T18:33:49.969Z,1757010829.969 [DAT](INFO): Ping request sent.
2025-09-04T18:33:49.969Z,1757010829.969 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:49.970Z,1757010829.970 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-09-04T18:33:49.971Z,1757010829.971 [DAT](INFO): direction in FSK: [0.965420,0.010110,0.260505]
2025-09-04T18:33:49.971Z,1757010829.971 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:49.971Z,1757010829.971 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:49.979Z,1757010829.979 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:49.979Z,1757010829.979 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:50.022Z,1757010830.022 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.052391
2025-09-04T18:33:50.209Z,1757010830.209 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.239858
2025-09-04T18:33:50.306Z,1757010830.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.500000 m,
      deltaT: 3.539050 s,
      deltaX: -2.000000 m,
      approachRate: -0.565123 m/s,
      rangeRepo size: 4

2025-09-04T18:33:50.313Z,1757010830.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.463671 m,
      bearing: 128.772016 deg,
      lat: 36.779340 deg,
      lon: -121.859467 deg,
      deltaT: 3.539050 s,
      deltaX: -1.991495 m,
      approachRate: -0.562720 m/s,
      posRepo size: 4

2025-09-04T18:33:50.313Z,1757010830.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.46 m.
2025-09-04T18:33:50.314Z,1757010830.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.50 m.
2025-09-04T18:33:50.314Z,1757010830.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-09-04T18:33:50.320Z,1757010830.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 8.218699 m,
      bearing: 119.435653 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.420099 deg/s,
      cmd heading: 105.953603 deg,
      new cmd heading: 104.794997 deg.

2025-09-04T18:33:50.333Z,1757010830.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829018 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:50.461Z,1757010830.461 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.491795
2025-09-04T18:33:50.713Z,1757010830.713 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.743883
2025-09-04T18:33:50.720Z,1757010830.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:50.723Z,1757010830.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:50.730Z,1757010830.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 7.981955 m,
      bearing: 118.818439 deg,
      approach rate: -0.567931 m/s,
      LOS rate: -1.524534 deg/s,
      cmd heading: 104.794998 deg,
      new cmd heading: 103.524191 deg.

2025-09-04T18:33:50.731Z,1757010830.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806838 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:50.965Z,1757010830.965 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.995839
2025-09-04T18:33:51.150Z,1757010831.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:51.169Z,1757010831.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 7.744061 m,
      bearing: 118.186265 deg,
      approach rate: -0.556548 m/s,
      LOS rate: -1.524359 deg/s,
      cmd heading: 103.524194 deg,
      new cmd heading: 102.221256 deg.

2025-09-04T18:33:51.170Z,1757010831.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784097 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:51.217Z,1757010831.217 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.248104
2025-09-04T18:33:51.470Z,1757010831.470 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.500596
2025-09-04T18:33:51.544Z,1757010831.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:51.547Z,1757010831.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 7.531738 m,
      bearing: 117.615706 deg,
      approach rate: -0.538921 m/s,
      LOS rate: -1.489001 deg/s,
      cmd heading: 102.221253 deg,
      new cmd heading: 101.048150 deg.

2025-09-04T18:33:51.548Z,1757010831.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.763623 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:51.722Z,1757010831.722 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.752194
2025-09-04T18:33:51.973Z,1757010831.973 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.003705
2025-09-04T18:33:51.976Z,1757010831.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:51.979Z,1757010831.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 7.307409 m,
      bearing: 116.967439 deg,
      approach rate: -0.519616 m/s,
      LOS rate: -1.547654 deg/s,
      cmd heading: 101.048148 deg,
      new cmd heading: 99.712083 deg.

2025-09-04T18:33:51.980Z,1757010831.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740304 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:52.225Z,1757010832.225 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.255778
2025-09-04T18:33:52.400Z,1757010832.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:52.403Z,1757010832.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 7.085361 m,
      bearing: 116.315088 deg,
      approach rate: -0.523558 m/s,
      LOS rate: -1.586317 deg/s,
      cmd heading: 99.712081 deg,
      new cmd heading: 98.366767 deg.

2025-09-04T18:33:52.404Z,1757010832.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.716824 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:52.478Z,1757010832.478 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.508757
2025-09-04T18:33:52.732Z,1757010832.732 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.762334
2025-09-04T18:33:52.758Z,1757010832.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:52.760Z,1757010832.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:52.763Z,1757010832.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 6.897397 m,
      bearing: 115.755099 deg,
      approach rate: -0.521848 m/s,
      LOS rate: -1.597052 deg/s,
      cmd heading: 98.366766 deg,
      new cmd heading: 97.216439 deg.

2025-09-04T18:33:52.764Z,1757010832.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696747 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:52.981Z,1757010832.981 [DAT](INFO): DAT read: Rx Time:18:33:51.4918

2025-09-04T18:33:52.988Z,1757010832.988 [DAT](INFO): Rx dataTimestamp_ set to:1757010832.987989
2025-09-04T18:33:52.989Z,1757010832.989 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.019526
2025-09-04T18:33:53.185Z,1757010833.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:53.188Z,1757010833.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 6.688200 m,
      bearing: 115.096818 deg,
      approach rate: -0.492071 m/s,
      LOS rate: -1.596798 deg/s,
      cmd heading: 97.216439 deg,
      new cmd heading: 95.858981 deg.

2025-09-04T18:33:53.189Z,1757010833.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673055 target range: 8.463671 and range: 8.50 m.
2025-09-04T18:33:53.233Z,1757010833.233 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.263735
2025-09-04T18:33:53.495Z,1757010833.495 [DAT](INFO): DAT read: 18:33:51.4918 LVL= 28832, 30513, 20402, 32755, AGC= 48, IDX= 422,-0.45,-1.569, 2.942,-1.414,-1.639, PHS= 0.172,-1.657, 0.182, RAW= 150.3,  14.1, CAL= 150.4,  15.7, ROT= 359.6, -15.7

2025-09-04T18:33:53.497Z,1757010833.497 [DAT](INFO): got valid direction response:
 18:33:51.4918 LVL= 28832, 30513, 20402, 32755, AGC= 48, IDX= 422,-0.45,-1.569, 2.942,-1.414,-1.639, PHS= 0.172,-1.657, 0.182, RAW= 150.3,  14.1, CAL= 150.4,  15.7, ROT= 359.6, -15.7

2025-09-04T18:33:53.498Z,1757010833.498 [DAT](INFO): DAT read: Bearing 296.2,  -2.2 (Local)

2025-09-04T18:33:53.499Z,1757010833.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.2,  -2.2 (Local)

2025-09-04T18:33:53.522Z,1757010833.522 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m  (Round-trip  8.7 ms) speed  0.4 m/s

2025-09-04T18:33:53.523Z,1757010833.523 [DAT](INFO): DAT read: user:2861>

2025-09-04T18:33:53.523Z,1757010833.523 [DAT](INFO): DAT read: Tx time:18:33:52.6290

2025-09-04T18:33:53.532Z,1757010833.532 [DAT](INFO): Ping request sent.
2025-09-04T18:33:53.532Z,1757010833.532 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:53.532Z,1757010833.532 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-09-04T18:33:53.533Z,1757010833.533 [DAT](INFO): direction in FSK: [0.962668,-0.006721,0.270600]
2025-09-04T18:33:53.534Z,1757010833.534 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:53.534Z,1757010833.534 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:53.561Z,1757010833.561 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:53.562Z,1757010833.562 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:53.577Z,1757010833.577 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.053176
2025-09-04T18:33:53.688Z,1757010833.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 3.528566 s,
      deltaX: -2.000000 m,
      approachRate: -0.566803 m/s,
      rangeRepo size: 4

2025-09-04T18:33:53.702Z,1757010833.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.472219 m,
      bearing: 120.447914 deg,
      lat: 36.779338 deg,
      lon: -121.859468 deg,
      deltaT: 3.528566 s,
      deltaX: -1.991452 m,
      approachRate: -0.564380 m/s,
      posRepo size: 4

2025-09-04T18:33:53.703Z,1757010833.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.47 m. 8.46 m.
2025-09-04T18:33:53.723Z,1757010833.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 6.452645 m,
      bearing: 114.338576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.420099 deg/s,
      cmd heading: 95.858980 deg,
      new cmd heading: 94.433350 deg.

2025-09-04T18:33:53.729Z,1757010833.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648173 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:53.737Z,1757010833.737 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.213155
2025-09-04T18:33:53.991Z,1757010833.991 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.466680
2025-09-04T18:33:54.149Z,1757010834.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:54.161Z,1757010834.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 6.236583 m,
      bearing: 113.566033 deg,
      approach rate: -0.467735 m/s,
      LOS rate: -1.730300 deg/s,
      cmd heading: 94.433349 deg,
      new cmd heading: 92.835197 deg.

2025-09-04T18:33:54.162Z,1757010834.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620280 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:54.241Z,1757010834.241 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.717227
2025-09-04T18:33:54.494Z,1757010834.494 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.969922
2025-09-04T18:33:54.559Z,1757010834.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:54.566Z,1757010834.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 6.047184 m,
      bearing: 112.872663 deg,
      approach rate: -0.461694 m/s,
      LOS rate: -1.743103 deg/s,
      cmd heading: 92.835200 deg,
      new cmd heading: 91.405358 deg.

2025-09-04T18:33:54.567Z,1757010834.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595324 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:54.746Z,1757010834.746 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.222534
2025-09-04T18:33:54.981Z,1757010834.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:54.984Z,1757010834.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:54.990Z,1757010834.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 5.847240 m,
      bearing: 112.065533 deg,
      approach rate: -0.471423 m/s,
      LOS rate: -1.968041 deg/s,
      cmd heading: 91.405355 deg,
      new cmd heading: 89.736424 deg.

2025-09-04T18:33:54.991Z,1757010834.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566196 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:54.997Z,1757010834.997 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.473362
2025-09-04T18:33:55.249Z,1757010835.249 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.725289
2025-09-04T18:33:55.315Z,1757010835.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:55.318Z,1757010835.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 5.683222 m,
      bearing: 111.357041 deg,
      approach rate: -0.494977 m/s,
      LOS rate: -2.199759 deg/s,
      cmd heading: 89.736426 deg,
      new cmd heading: 88.278898 deg.

2025-09-04T18:33:55.319Z,1757010835.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540757 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:55.502Z,1757010835.502 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.977871
2025-09-04T18:33:55.709Z,1757010835.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:55.731Z,1757010835.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 5.498904 m,
      bearing: 110.577459 deg,
      approach rate: -0.467300 m/s,
      LOS rate: -2.042653 deg/s,
      cmd heading: 88.278897 deg,
      new cmd heading: 86.667946 deg.

2025-09-04T18:33:55.740Z,1757010835.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512641 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:55.753Z,1757010835.753 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.229205
2025-09-04T18:33:56.005Z,1757010836.005 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.481380
2025-09-04T18:33:56.137Z,1757010836.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:56.140Z,1757010836.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 5.303861 m,
      bearing: 109.754191 deg,
      approach rate: -0.456030 m/s,
      LOS rate: -1.995597 deg/s,
      cmd heading: 86.667949 deg,
      new cmd heading: 84.961429 deg.

2025-09-04T18:33:56.141Z,1757010836.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482857 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:56.257Z,1757010836.257 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.733479
2025-09-04T18:33:56.509Z,1757010836.509 [DAT](INFO): DAT read: Rx Time:18:33:55.0396

2025-09-04T18:33:56.510Z,1757010836.510 [DAT](INFO): Rx dataTimestamp_ set to:1757010836.509246
2025-09-04T18:33:56.510Z,1757010836.510 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.986228
2025-09-04T18:33:56.526Z,1757010836.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:56.529Z,1757010836.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 5.126601 m,
      bearing: 108.983824 deg,
      approach rate: -0.455687 m/s,
      LOS rate: -2.048814 deg/s,
      cmd heading: 84.961427 deg,
      new cmd heading: 83.367877 deg.

2025-09-04T18:33:56.530Z,1757010836.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455044 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:56.761Z,1757010836.761 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.237029
2025-09-04T18:33:56.987Z,1757010836.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:56.993Z,1757010836.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:57.008Z,1757010837.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 4.918244 m,
      bearing: 108.150986 deg,
      approach rate: -0.445797 m/s,
      LOS rate: -1.857357 deg/s,
      cmd heading: 83.367875 deg,
      new cmd heading: 81.632227 deg.

2025-09-04T18:33:57.009Z,1757010837.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424751 target range: 8.463671 and range: 6.50 m.
2025-09-04T18:33:57.023Z,1757010837.023 [DAT](INFO): DAT read: 18:33:55.0396 LVL= 21088, 30001, 19602, 27251, AGC= 50, IDX= 416, 0.11,-0.500,-2.516,-0.650,-0.831, PHS= 0.433,-1.640, 0.137, RAW= 142.4,  11.0, CAL= 141.9,  12.0, ROT=   8.1, -12.0

2025-09-04T18:33:57.025Z,1757010837.025 [DAT](INFO): got valid direction response:
 18:33:55.0396 LVL= 21088, 30001, 19602, 27251, AGC= 50, IDX= 416, 0.11,-0.500,-2.516,-0.650,-0.831, PHS= 0.433,-1.640, 0.137, RAW= 142.4,  11.0, CAL= 141.9,  12.0, ROT=   8.1, -12.0

2025-09-04T18:33:57.026Z,1757010837.026 [DAT](INFO): DAT read: Bearing 285.5,   5.6 (Local)

2025-09-04T18:33:57.026Z,1757010837.026 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.5,   5.6 (Local)

2025-09-04T18:33:57.027Z,1757010837.027 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m  (Round-trip  6.5 ms) speed  0.3 m/s

2025-09-04T18:33:57.028Z,1757010837.028 [DAT](INFO): DAT read: user:2862>

2025-09-04T18:33:57.029Z,1757010837.029 [DAT](INFO): DAT read: Tx time:18:33:56.1290

2025-09-04T18:33:57.029Z,1757010837.029 [DAT](INFO): Ping request sent.
2025-09-04T18:33:57.029Z,1757010837.029 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:33:57.030Z,1757010837.030 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-09-04T18:33:57.031Z,1757010837.031 [DAT](INFO): direction in FSK: [0.968389,0.137822,0.207912]
2025-09-04T18:33:57.031Z,1757010837.031 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:57.031Z,1757010837.031 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:57.034Z,1757010837.034 [DAT](INFO): publishing transmit ping time
2025-09-04T18:33:57.034Z,1757010837.034 [DAT](INFO): publishing direction and range info
2025-09-04T18:33:57.050Z,1757010837.050 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.020516
2025-09-04T18:33:57.265Z,1757010837.265 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.235836
2025-09-04T18:33:57.454Z,1757010837.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 3.527469 s,
      deltaX: -1.700000 m,
      approachRate: -0.481932 m/s,
      rangeRepo size: 4

2025-09-04T18:33:57.456Z,1757010837.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.779483 m,
      bearing: 120.403222 deg,
      lat: 36.779336 deg,
      lon: -121.859472 deg,
      deltaT: 7.056035 s,
      deltaX: -3.684188 m,
      approachRate: -0.522133 m/s,
      posRepo size: 4

2025-09-04T18:33:57.457Z,1757010837.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 8.46 m.
2025-09-04T18:33:57.459Z,1757010837.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 4.715694 m,
      bearing: 107.309041 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.420099 deg/s,
      cmd heading: 81.632228 deg,
      new cmd heading: 80.325612 deg.

2025-09-04T18:33:57.474Z,1757010837.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401946 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:33:57.517Z,1757010837.517 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.487914
2025-09-04T18:33:57.769Z,1757010837.769 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.739732
2025-09-04T18:33:57.866Z,1757010837.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:57.874Z,1757010837.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 4.502600 m,
      bearing: 106.382399 deg,
      approach rate: -0.516428 m/s,
      LOS rate: -2.351872 deg/s,
      cmd heading: 80.325613 deg,
      new cmd heading: 78.385445 deg.

2025-09-04T18:33:57.875Z,1757010837.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368084 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:33:58.021Z,1757010838.021 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.991434
2025-09-04T18:33:58.273Z,1757010838.273 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.243554
2025-09-04T18:33:58.355Z,1757010838.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:58.366Z,1757010838.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 4.274324 m,
      bearing: 105.408258 deg,
      approach rate: -0.467173 m/s,
      LOS rate: -2.099982 deg/s,
      cmd heading: 78.385443 deg,
      new cmd heading: 76.334087 deg.

2025-09-04T18:33:58.367Z,1757010838.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332281 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:33:58.525Z,1757010838.525 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.495488
2025-09-04T18:33:58.707Z,1757010838.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:58.711Z,1757010838.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 4.105786 m,
      bearing: 104.655375 deg,
      approach rate: -0.478179 m/s,
      LOS rate: -2.223708 deg/s,
      cmd heading: 76.334085 deg,
      new cmd heading: 74.766944 deg.

2025-09-04T18:33:58.712Z,1757010838.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304929 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:33:58.786Z,1757010838.786 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.756511
2025-09-04T18:33:59.029Z,1757010839.029 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.999610
2025-09-04T18:33:59.131Z,1757010839.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:33:59.133Z,1757010839.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:59.137Z,1757010839.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 3.895334 m,
      bearing: 103.769170 deg,
      approach rate: -0.494020 m/s,
      LOS rate: -2.192596 deg/s,
      cmd heading: 74.766946 deg,
      new cmd heading: 72.899515 deg.

2025-09-04T18:33:59.138Z,1757010839.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272337 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:33:59.281Z,1757010839.281 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.251475
2025-09-04T18:33:59.527Z,1757010839.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:33:59.530Z,1757010839.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 3.700245 m,
      bearing: 102.901947 deg,
      approach rate: -0.495471 m/s,
      LOS rate: -2.318540 deg/s,
      cmd heading: 72.899517 deg,
      new cmd heading: 71.074313 deg.

2025-09-04T18:33:59.531Z,1757010839.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240481 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:33:59.533Z,1757010839.533 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.503573
2025-09-04T18:33:59.785Z,1757010839.785 [DAT](INFO): DAT read: Rx Time:18:33:58.5377

2025-09-04T18:33:59.786Z,1757010839.786 [DAT](INFO): Rx dataTimestamp_ set to:1757010839.785613
2025-09-04T18:33:59.786Z,1757010839.786 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.756951
2025-09-04T18:34:00.037Z,1757010840.037 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.007437
2025-09-04T18:34:00.059Z,1757010840.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:00.070Z,1757010840.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 3.450918 m,
      bearing: 101.863518 deg,
      approach rate: -0.468942 m/s,
      LOS rate: -2.094105 deg/s,
      cmd heading: 71.074313 deg,
      new cmd heading: 68.848646 deg.

2025-09-04T18:34:00.070Z,1757010840.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201636 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:34:00.298Z,1757010840.298 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.267563
2025-09-04T18:34:00.530Z,1757010840.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:00.533Z,1757010840.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 3.204251 m,
      bearing: 100.743916 deg,
      approach rate: -0.523458 m/s,
      LOS rate: -2.558681 deg/s,
      cmd heading: 68.848648 deg,
      new cmd heading: 66.438642 deg.

2025-09-04T18:34:00.534Z,1757010840.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159573 target range: 8.463671 and range: 4.80 m.
2025-09-04T18:34:00.551Z,1757010840.551 [DAT](INFO): DAT read: 18:33:58.5377 LVL= 23328, 23793, 19106, 30019, AGC= 46, IDX= 430,-0.03,-0.411, 0.770, 1.876, 1.957, PHS=-2.266,-1.142,-0.125, RAW= 241.7,  34.0, CAL= 245.3,  43.1, ROT= 264.7, -43.1

2025-09-04T18:34:00.553Z,1757010840.553 [DAT](INFO): got valid direction response:
 18:33:58.5377 LVL= 23328, 23793, 19106, 30019, AGC= 46, IDX= 430,-0.03,-0.411, 0.770, 1.876, 1.957, PHS=-2.266,-1.142,-0.125, RAW= 241.7,  34.0, CAL= 245.3,  43.1, ROT= 264.7, -43.1

2025-09-04T18:34:00.554Z,1757010840.554 [DAT](INFO): DAT read: Bearing   3.6, -51.1 (Local)

2025-09-04T18:34:00.554Z,1757010840.554 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6, -51.1 (Local)

2025-09-04T18:34:00.556Z,1757010840.556 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m  (Round-trip  4.7 ms) speed  0.3 m/s

2025-09-04T18:34:00.556Z,1757010840.556 [DAT](INFO): DAT read: user:2863>

2025-09-04T18:34:00.557Z,1757010840.557 [DAT](INFO): DAT read: Tx time:18:33:59.6289

2025-09-04T18:34:00.557Z,1757010840.557 [DAT](INFO): Ping request sent.
2025-09-04T18:34:00.557Z,1757010840.557 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:00.558Z,1757010840.558 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-04T18:34:00.559Z,1757010840.559 [DAT](INFO): direction in FSK: [-0.067445,-0.727041,0.683274]
2025-09-04T18:34:00.559Z,1757010840.559 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:00.559Z,1757010840.559 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:00.579Z,1757010840.579 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:00.579Z,1757010840.579 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:00.590Z,1757010840.590 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.032890
2025-09-04T18:34:00.797Z,1757010840.797 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.239933
2025-09-04T18:34:01.049Z,1757010841.049 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.491530
2025-09-04T18:34:01.085Z,1757010841.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 3.531953 s,
      deltaX: -1.300000 m,
      approachRate: -0.368068 m/s,
      rangeRepo size: 4

2025-09-04T18:34:01.088Z,1757010841.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.485056 m,
      bearing: 9.968012 deg,
      lat: 36.779336 deg,
      lon: -121.859473 deg,
      deltaT: 10.587988 s,
      deltaX: -4.978615 m,
      approachRate: -0.470214 m/s,
      posRepo size: 4

2025-09-04T18:34:01.093Z,1757010841.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.49 m. 8.46 m.
2025-09-04T18:34:01.095Z,1757010841.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 2.946205 m,
      bearing: 99.475674 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.420099 deg/s,
      cmd heading: 66.438643 deg,
      new cmd heading: 64.875329 deg.

2025-09-04T18:34:01.097Z,1757010841.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132288 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:01.304Z,1757010841.304 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.746158
2025-09-04T18:34:01.523Z,1757010841.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:01.529Z,1757010841.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:01.534Z,1757010841.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 2.709550 m,
      bearing: 98.249587 deg,
      approach rate: -0.527404 m/s,
      LOS rate: -2.970856 deg/s,
      cmd heading: 64.875329 deg,
      new cmd heading: 62.211104 deg.

2025-09-04T18:34:01.535Z,1757010841.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.085789 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:01.554Z,1757010841.554 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.996935
2025-09-04T18:34:01.805Z,1757010841.805 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.247524
2025-09-04T18:34:01.897Z,1757010841.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:01.901Z,1757010841.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 2.514109 m,
      bearing: 97.122854 deg,
      approach rate: -0.530904 m/s,
      LOS rate: -3.298429 deg/s,
      cmd heading: 62.211105 deg,
      new cmd heading: 59.784069 deg.

2025-09-04T18:34:01.903Z,1757010841.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.043429 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:02.057Z,1757010842.057 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.499790
2025-09-04T18:34:02.290Z,1757010842.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:02.292Z,1757010842.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 2.313120 m,
      bearing: 95.887909 deg,
      approach rate: -0.512451 m/s,
      LOS rate: -3.422001 deg/s,
      cmd heading: 59.784072 deg,
      new cmd heading: 57.101741 deg.

2025-09-04T18:34:02.293Z,1757010842.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.996613 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:02.309Z,1757010842.309 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.751586
2025-09-04T18:34:02.561Z,1757010842.561 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.003555
2025-09-04T18:34:02.664Z,1757010842.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:34:02.673Z,1757010842.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:02.676Z,1757010842.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 2.114869 m,
      bearing: 94.515860 deg,
      approach rate: -0.517034 m/s,
      LOS rate: -3.913332 deg/s,
      cmd heading: 57.101741 deg,
      new cmd heading: 54.103432 deg.

2025-09-04T18:34:02.677Z,1757010842.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.944283 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:02.813Z,1757010842.813 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.255815
2025-09-04T18:34:03.065Z,1757010843.065 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.507623
2025-09-04T18:34:03.110Z,1757010843.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:03.113Z,1757010843.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 1.901610 m,
      bearing: 92.799680 deg,
      approach rate: -0.487668 m/s,
      LOS rate: -4.363926 deg/s,
      cmd heading: 54.103431 deg,
      new cmd heading: 50.292346 deg.

2025-09-04T18:34:03.114Z,1757010843.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.877767 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:03.317Z,1757010843.317 [DAT](INFO): DAT read: Rx Time:18:34:02.0366

2025-09-04T18:34:03.318Z,1757010843.318 [DAT](INFO): Rx dataTimestamp_ set to:1757010843.317555
2025-09-04T18:34:03.318Z,1757010843.318 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.760906
2025-09-04T18:34:03.479Z,1757010843.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:03.483Z,1757010843.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 1.725021 m,
      bearing: 91.136941 deg,
      approach rate: -0.480148 m/s,
      LOS rate: -4.983128 deg/s,
      cmd heading: 50.292346 deg,
      new cmd heading: 46.631944 deg.

2025-09-04T18:34:03.484Z,1757010843.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813881 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:03.569Z,1757010843.569 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.012014
2025-09-04T18:34:03.668Z,1757010843.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:34:03.824Z,1757010843.824 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.266078
2025-09-04T18:34:03.894Z,1757010843.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:03.897Z,1757010843.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.46 m. 8.46 m.
2025-09-04T18:34:03.903Z,1757010843.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.463671 m,
      nav range: 1.520541 m,
      bearing: 89.052307 deg,
      approach rate: -0.489006 m/s,
      LOS rate: -5.654472 deg/s,
      cmd heading: 46.631945 deg,
      new cmd heading: 41.913737 deg.

2025-09-04T18:34:03.906Z,1757010843.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731533 target range: 8.463671 and range: 3.50 m.
2025-09-04T18:34:04.079Z,1757010844.079 [DAT](INFO): DAT read: 18:34:02.0366 LVL= 31440, 32753, 28194, 31891, AGC= 49, IDX= 431,-0.21, 3.037, 2.107,-3.119,-2.561, PHS=-0.583,-1.570,-0.603, RAW= 149.0,  44.9, CAL= 153.1,  54.4, ROT= 356.9, -54.4

2025-09-04T18:34:04.080Z,1757010844.080 [DAT](INFO): got valid direction response:
 18:34:02.0366 LVL= 31440, 32753, 28194, 31891, AGC= 49, IDX= 431,-0.21, 3.037, 2.107,-3.119,-2.561, PHS=-0.583,-1.570,-0.603, RAW= 149.0,  44.9, CAL= 153.1,  54.4, ROT= 356.9, -54.4

2025-09-04T18:34:04.081Z,1757010844.081 [DAT](INFO): DAT read: Bearing 312.2,  -7.0 (Local)

2025-09-04T18:34:04.081Z,1757010844.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  -7.0 (Local)

2025-09-04T18:34:04.083Z,1757010844.083 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.0 m/s

2025-09-04T18:34:04.083Z,1757010844.083 [DAT](INFO): DAT read: user:2864>

2025-09-04T18:34:04.084Z,1757010844.084 [DAT](INFO): DAT read: Tx time:18:34:03.1289

2025-09-04T18:34:04.085Z,1757010844.085 [DAT](INFO): Ping request sent.
2025-09-04T18:34:04.085Z,1757010844.085 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:04.085Z,1757010844.085 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-04T18:34:04.086Z,1757010844.086 [DAT](INFO): direction in FSK: [0.581271,-0.031480,0.813101]
2025-09-04T18:34:04.086Z,1757010844.086 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:04.086Z,1757010844.086 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:04.090Z,1757010844.090 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:04.090Z,1757010844.090 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:04.094Z,1757010844.094 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.009206
2025-09-04T18:34:04.326Z,1757010844.326 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.240803
2025-09-04T18:34:04.326Z,1757010844.326 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,210   0.0,10
2025-09-04T18:34:04.368Z,1757010844.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.528023 s,
      deltaX: -0.800000 m,
      approachRate: -0.226756 m/s,
      rangeRepo size: 4

2025-09-04T18:34:04.394Z,1757010844.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.688480 m,
      bearing: 99.158668 deg,
      lat: 36.779336 deg,
      lon: -121.859473 deg,
      deltaT: 14.116011 s,
      deltaX: -5.775191 m,
      approachRate: -0.409123 m/s,
      posRepo size: 4

2025-09-04T18:34:04.395Z,1757010844.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-09-04T18:34:04.395Z,1757010844.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-09-04T18:34:04.577Z,1757010844.577 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.492336
2025-09-04T18:34:04.829Z,1757010844.829 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.744443
2025-09-04T18:34:05.081Z,1757010845.081 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.996156
2025-09-04T18:34:05.333Z,1757010845.333 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.248337
2025-09-04T18:34:05.585Z,1757010845.585 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.500266
2025-09-04T18:34:05.837Z,1757010845.837 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.752719
2025-09-04T18:34:05.975Z,1757010845.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:06.090Z,1757010846.090 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.005090
2025-09-04T18:34:06.341Z,1757010846.341 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.256219
2025-09-04T18:34:06.593Z,1757010846.593 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.508556
2025-09-04T18:34:06.846Z,1757010846.846 [DAT](INFO): DAT read: Rx Time:18:34:05.5357

2025-09-04T18:34:06.846Z,1757010846.846 [DAT](INFO): Rx dataTimestamp_ set to:1757010846.845847
2025-09-04T18:34:06.847Z,1757010846.847 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.762342
2025-09-04T18:34:07.101Z,1757010847.101 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.016560
2025-09-04T18:34:07.354Z,1757010847.354 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:07.355Z,1757010847.355 [DAT](INFO): DAT read: user:2865>

2025-09-04T18:34:07.355Z,1757010847.355 [DAT](INFO): DAT read: Tx time:18:34:06.6289

2025-09-04T18:34:07.356Z,1757010847.356 [DAT](INFO): Ping request sent.
2025-09-04T18:34:07.356Z,1757010847.356 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:07.357Z,1757010847.357 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-09-04T18:34:07.357Z,1757010847.357 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:07.358Z,1757010847.358 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:07.359Z,1757010847.359 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.003206
2025-09-04T18:34:07.605Z,1757010847.605 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.249256
2025-09-04T18:34:07.645Z,1757010847.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.280013 s,
      deltaX: -0.700000 m,
      approachRate: -0.213414 m/s,
      rangeRepo size: 4

2025-09-04T18:34:07.857Z,1757010847.857 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.501042
2025-09-04T18:34:08.106Z,1757010848.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:08.110Z,1757010848.110 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.753658
2025-09-04T18:34:08.361Z,1757010848.361 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.005120
2025-09-04T18:34:08.618Z,1757010848.618 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.261792
2025-09-04T18:34:08.869Z,1757010848.869 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.513363
2025-09-04T18:34:09.121Z,1757010849.121 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.765141
2025-09-04T18:34:09.373Z,1757010849.373 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.017137
2025-09-04T18:34:09.625Z,1757010849.625 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.269356
2025-09-04T18:34:09.885Z,1757010849.885 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.529184
2025-09-04T18:34:10.137Z,1757010850.137 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.781133
2025-09-04T18:34:10.332Z,1757010850.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:10.390Z,1757010850.390 [DAT](INFO): DAT read: .0356

2025-09-04T18:34:10.391Z,1757010850.391 [DAT](INFO): unknown deviceResponse_: .0356

2025-09-04T18:34:10.393Z,1757010850.393 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.036711
2025-09-04T18:34:10.641Z,1757010850.641 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.285212
2025-09-04T18:34:10.895Z,1757010850.895 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:10.897Z,1757010850.897 [DAT](INFO): DAT read: user:2866>

2025-09-04T18:34:10.898Z,1757010850.898 [DAT](INFO): DAT read: Tx time:18:34:10.1289

2025-09-04T18:34:10.899Z,1757010850.899 [DAT](INFO): Ping request sent.
2025-09-04T18:34:10.899Z,1757010850.899 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:10.900Z,1757010850.900 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-09-04T18:34:10.900Z,1757010850.900 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:10.901Z,1757010850.901 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:10.903Z,1757010850.903 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.004510
2025-09-04T18:34:11.145Z,1757010851.145 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.246564
2025-09-04T18:34:11.160Z,1757010851.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.540541 s,
      deltaX: -0.100000 m,
      approachRate: -0.028244 m/s,
      rangeRepo size: 4

2025-09-04T18:34:11.398Z,1757010851.398 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.499653
2025-09-04T18:34:11.649Z,1757010851.649 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.750256
2025-09-04T18:34:11.902Z,1757010851.902 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.003096
2025-09-04T18:34:12.157Z,1757010852.157 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.256956
2025-09-04T18:34:12.334Z,1757010852.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:12.406Z,1757010852.406 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.506857
2025-09-04T18:34:12.659Z,1757010852.659 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.760486
2025-09-04T18:34:12.913Z,1757010852.913 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.013872
2025-09-04T18:34:13.161Z,1757010853.161 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.262379
2025-09-04T18:34:13.414Z,1757010853.414 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.515452
2025-09-04T18:34:13.665Z,1757010853.665 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.766320
2025-09-04T18:34:13.917Z,1757010853.917 [DAT](INFO): DAT read: Rx Time:18:34:12.5356

2025-09-04T18:34:13.917Z,1757010853.917 [DAT](INFO): Rx dataTimestamp_ set to:1757010853.917190
2025-09-04T18:34:13.918Z,1757010853.918 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.019309
2025-09-04T18:34:14.172Z,1757010854.172 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.272968
2025-09-04T18:34:14.391Z,1757010854.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:14.422Z,1757010854.422 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:14.423Z,1757010854.423 [DAT](INFO): DAT read: user:2867>

2025-09-04T18:34:14.424Z,1757010854.424 [DAT](INFO): DAT read: Tx time:18:34:13.6288

2025-09-04T18:34:14.424Z,1757010854.424 [DAT](INFO): Ping request sent.
2025-09-04T18:34:14.424Z,1757010854.424 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:14.424Z,1757010854.424 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-09-04T18:34:14.424Z,1757010854.424 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:14.425Z,1757010854.425 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:14.426Z,1757010854.426 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.001850
2025-09-04T18:34:14.680Z,1757010854.680 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.256086
2025-09-04T18:34:14.754Z,1757010854.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527474 s,
      deltaX: 0.100000 m,
      approachRate: 0.028349 m/s,
      rangeRepo size: 4

2025-09-04T18:34:14.755Z,1757010854.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-09-04T18:34:14.925Z,1757010854.925 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.501029
2025-09-04T18:34:15.233Z,1757010855.233 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.808650
2025-09-04T18:34:15.429Z,1757010855.429 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.005067
2025-09-04T18:34:15.681Z,1757010855.681 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.257400
2025-09-04T18:34:15.933Z,1757010855.933 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.509334
2025-09-04T18:34:16.188Z,1757010856.188 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.763318
2025-09-04T18:34:16.438Z,1757010856.438 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.013758
2025-09-04T18:34:16.689Z,1757010856.689 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.264995
2025-09-04T18:34:16.755Z,1757010856.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:16.945Z,1757010856.945 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.520494
2025-09-04T18:34:17.196Z,1757010857.196 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.771682
2025-09-04T18:34:17.445Z,1757010857.445 [DAT](INFO): DAT read: 18:34:16.0356

2025-09-04T18:34:17.446Z,1757010857.446 [DAT](INFO): unknown deviceResponse_: 18:34:16.0356

2025-09-04T18:34:17.447Z,1757010857.447 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.022497
2025-09-04T18:34:17.698Z,1757010857.698 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.273827
2025-09-04T18:34:17.955Z,1757010857.955 [DAT](INFO): DAT read: 18:34:16.0356 LVL= 15904, 17249, 20466, 17507, AGC= 46, IDX= 442, 0.23,-0.290,-1.637,-2.102,-0.008, PHS=-0.180,-1.584,-2.138, RAW=  74.1,  38.3, CAL=  69.7,  45.4, ROT=  80.3, -45.4

2025-09-04T18:34:17.956Z,1757010857.956 [DAT](INFO): got valid direction response:
 18:34:16.0356 LVL= 15904, 17249, 20466, 17507, AGC= 46, IDX= 442, 0.23,-0.290,-1.637,-2.102,-0.008, PHS=-0.180,-1.584,-2.138, RAW=  74.1,  38.3, CAL=  69.7,  45.4, ROT=  80.3, -45.4

2025-09-04T18:34:17.957Z,1757010857.957 [DAT](INFO): DAT read: Bearing 298.6,  46.3 (Local)

2025-09-04T18:34:17.958Z,1757010857.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.6,  46.3 (Local)

2025-09-04T18:34:17.959Z,1757010857.959 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:17.960Z,1757010857.960 [DAT](INFO): DAT read: user:2868>

2025-09-04T18:34:17.961Z,1757010857.961 [DAT](INFO): DAT read: Tx time:18:34:17.1288

2025-09-04T18:34:17.961Z,1757010857.961 [DAT](INFO): Ping request sent.
2025-09-04T18:34:17.961Z,1757010857.961 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:17.961Z,1757010857.961 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-04T18:34:17.962Z,1757010857.962 [DAT](INFO): direction in FSK: [0.118305,0.692115,0.712026]
2025-09-04T18:34:17.963Z,1757010857.963 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:17.963Z,1757010857.963 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:18.004Z,1757010858.004 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:18.004Z,1757010858.004 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:18.008Z,1757010858.008 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.046622
2025-09-04T18:34:18.063Z,1757010858.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527865 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:18.067Z,1757010858.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.991458 m,
      bearing: 139.860671 deg,
      lat: 36.779336 deg,
      lon: -121.859472 deg,
      deltaT: 13.875893 s,
      deltaX: -0.697022 m,
      approachRate: -0.050233 m/s,
      posRepo size: 4

2025-09-04T18:34:18.205Z,1757010858.205 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.243353
2025-09-04T18:34:18.453Z,1757010858.453 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.492113
2025-09-04T18:34:18.705Z,1757010858.705 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.743906
2025-09-04T18:34:18.859Z,1757010858.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:18.958Z,1757010858.958 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.996819
2025-09-04T18:34:19.212Z,1757010859.212 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.250315
2025-09-04T18:34:19.465Z,1757010859.465 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.502553
2025-09-04T18:34:19.713Z,1757010859.713 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.751915
2025-09-04T18:34:19.965Z,1757010859.965 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.004017
2025-09-04T18:34:20.219Z,1757010860.219 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.258050
2025-09-04T18:34:20.470Z,1757010860.470 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.508731
2025-09-04T18:34:20.721Z,1757010860.721 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.759989
2025-09-04T18:34:20.878Z,1757010860.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:20.973Z,1757010860.973 [DAT](INFO): DAT read: Rx Time:18:34:19.5356

2025-09-04T18:34:20.974Z,1757010860.974 [DAT](INFO): Rx dataTimestamp_ set to:1757010860.973289
2025-09-04T18:34:20.974Z,1757010860.974 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.013074
2025-09-04T18:34:21.228Z,1757010861.228 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.266313
2025-09-04T18:34:21.487Z,1757010861.487 [DAT](INFO): DAT read: 18:34:19.5356 LVL= 12656, 13489, 19538, 21139, AGC= 45, IDX= 442, 0.36,-2.393, 2.952,-2.556,-1.426, PHS=-0.865,-1.861,-1.175, RAW= 132.3,  57.4, CAL= 135.0,  63.7, ROT=  15.0, -63.7

2025-09-04T18:34:21.489Z,1757010861.489 [DAT](INFO): got valid direction response:
 18:34:19.5356 LVL= 12656, 13489, 19538, 21139, AGC= 45, IDX= 442, 0.36,-2.393, 2.952,-2.556,-1.426, PHS=-0.865,-1.861,-1.175, RAW= 132.3,  57.4, CAL= 135.0,  63.7, ROT=  15.0, -63.7

2025-09-04T18:34:21.490Z,1757010861.490 [DAT](INFO): DAT read: Bearing 285.3,   8.7 (Local)

2025-09-04T18:34:21.490Z,1757010861.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.3,   8.7 (Local)

2025-09-04T18:34:21.502Z,1757010861.502 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:21.503Z,1757010861.503 [DAT](INFO): DAT read: user:2869>

2025-09-04T18:34:21.509Z,1757010861.509 [DAT](INFO): DAT read: Tx time:18:34:20.6288

2025-09-04T18:34:21.509Z,1757010861.509 [DAT](INFO): Ping request sent.
2025-09-04T18:34:21.509Z,1757010861.509 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:21.510Z,1757010861.510 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-04T18:34:21.511Z,1757010861.511 [DAT](INFO): direction in FSK: [0.427974,0.114675,0.896486]
2025-09-04T18:34:21.512Z,1757010861.512 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:21.528Z,1757010861.528 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:21.531Z,1757010861.531 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:21.531Z,1757010861.531 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:21.551Z,1757010861.551 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.041948
2025-09-04T18:34:21.729Z,1757010861.729 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.219619
2025-09-04T18:34:21.757Z,1757010861.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.528519 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:21.759Z,1757010861.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.991450 m,
      bearing: 73.489191 deg,
      lat: 36.779337 deg,
      lon: -121.859468 deg,
      deltaT: 3.528519 s,
      deltaX: -0.000008 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-09-04T18:34:21.985Z,1757010861.985 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.475693
2025-09-04T18:34:22.233Z,1757010862.233 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.723887
2025-09-04T18:34:22.485Z,1757010862.485 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.975973
2025-09-04T18:34:22.737Z,1757010862.737 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.227508
2025-09-04T18:34:22.946Z,1757010862.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:22.989Z,1757010862.989 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.479677
2025-09-04T18:34:23.241Z,1757010863.241 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.731506
2025-09-04T18:34:23.494Z,1757010863.494 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.984215
2025-09-04T18:34:23.745Z,1757010863.745 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.235640
2025-09-04T18:34:23.998Z,1757010863.998 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.488721
2025-09-04T18:34:24.249Z,1757010864.249 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.739800
2025-09-04T18:34:24.502Z,1757010864.502 [DAT](INFO): DAT read: Rx Time:18:34:23.0356

2025-09-04T18:34:24.503Z,1757010864.503 [DAT](INFO): Rx dataTimestamp_ set to:1757010864.501988
2025-09-04T18:34:24.503Z,1757010864.503 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.993709
2025-09-04T18:34:24.753Z,1757010864.753 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.243579
2025-09-04T18:34:24.967Z,1757010864.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:25.011Z,1757010865.011 [DAT](INFO): DAT read: 18:34:23.0356 LVL= 14128, 12609, 22130, 21731, AGC= 46, IDX= 443,-0.39, 0.431,-0.965, 0.266, 1.384, PHS=-0.851,-2.304,-1.162, RAW= 138.3,  49.0, CAL= 142.7,  57.3, ROT=   7.3, -57.3

2025-09-04T18:34:25.012Z,1757010865.012 [DAT](INFO): got valid direction response:
 18:34:23.0356 LVL= 14128, 12609, 22130, 21731, AGC= 46, IDX= 443,-0.39, 0.431,-0.965, 0.266, 1.384, PHS=-0.851,-2.304,-1.162, RAW= 138.3,  49.0, CAL= 142.7,  57.3, ROT=   7.3, -57.3

2025-09-04T18:34:25.013Z,1757010865.013 [DAT](INFO): DAT read: Bearing 281.6,   6.5 (Local)

2025-09-04T18:34:25.014Z,1757010865.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.6,   6.5 (Local)

2025-09-04T18:34:25.015Z,1757010865.015 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:25.016Z,1757010865.016 [DAT](INFO): DAT read: user:2870>

2025-09-04T18:34:25.017Z,1757010865.017 [DAT](INFO): DAT read: Tx time:18:34:24.1288

2025-09-04T18:34:25.017Z,1757010865.017 [DAT](INFO): Ping request sent.
2025-09-04T18:34:25.017Z,1757010865.017 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:25.018Z,1757010865.018 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-09-04T18:34:25.019Z,1757010865.019 [DAT](INFO): direction in FSK: [0.535861,0.068645,0.841511]
2025-09-04T18:34:25.019Z,1757010865.019 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:25.019Z,1757010865.019 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:25.023Z,1757010865.023 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:25.023Z,1757010865.023 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:25.026Z,1757010865.026 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.009145
2025-09-04T18:34:25.261Z,1757010865.261 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.242558
2025-09-04T18:34:25.442Z,1757010865.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:25.444Z,1757010865.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.991455 m,
      bearing: 69.195477 deg,
      lat: 36.779344 deg,
      lon: -121.859468 deg,
      deltaT: 3.527731 s,
      deltaX: 0.000004 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-09-04T18:34:25.510Z,1757010865.510 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.492314
2025-09-04T18:34:25.761Z,1757010865.761 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.743548
2025-09-04T18:34:26.013Z,1757010866.013 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.995792
2025-09-04T18:34:26.265Z,1757010866.265 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.247523
2025-09-04T18:34:26.517Z,1757010866.517 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.499678
2025-09-04T18:34:26.769Z,1757010866.769 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.751730
2025-09-04T18:34:27.003Z,1757010867.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:27.021Z,1757010867.021 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.003708
2025-09-04T18:34:27.273Z,1757010867.273 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.255884
2025-09-04T18:34:27.525Z,1757010867.525 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.507822
2025-09-04T18:34:27.779Z,1757010867.779 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.761434
2025-09-04T18:34:28.029Z,1757010868.029 [DAT](INFO): DAT read: Rx Time:18:34:26.5355

2025-09-04T18:34:28.030Z,1757010868.030 [DAT](INFO): Rx dataTimestamp_ set to:1757010868.029566
2025-09-04T18:34:28.030Z,1757010868.030 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.013058
2025-09-04T18:34:28.281Z,1757010868.281 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.263823
2025-09-04T18:34:28.535Z,1757010868.535 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:28.536Z,1757010868.536 [DAT](INFO): DAT read: user:2871>

2025-09-04T18:34:28.537Z,1757010868.537 [DAT](INFO): DAT read: Tx time:18:34:27.6288

2025-09-04T18:34:28.537Z,1757010868.537 [DAT](INFO): Ping request sent.
2025-09-04T18:34:28.537Z,1757010868.537 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:28.537Z,1757010868.537 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-09-04T18:34:28.537Z,1757010868.537 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:28.538Z,1757010868.538 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:28.539Z,1757010868.539 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.001831
2025-09-04T18:34:28.785Z,1757010868.785 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.247906
2025-09-04T18:34:28.828Z,1757010868.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.528863 s,
      deltaX: -0.100000 m,
      approachRate: -0.028338 m/s,
      rangeRepo size: 4

2025-09-04T18:34:29.037Z,1757010869.037 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.500065
2025-09-04T18:34:29.181Z,1757010869.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:29.290Z,1757010869.290 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.752989
2025-09-04T18:34:29.541Z,1757010869.541 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.004019
2025-09-04T18:34:29.793Z,1757010869.793 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.256081
2025-09-04T18:34:30.046Z,1757010870.046 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.508519
2025-09-04T18:34:30.297Z,1757010870.297 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.760199
2025-09-04T18:34:30.551Z,1757010870.551 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.013479
2025-09-04T18:34:30.801Z,1757010870.801 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.264069
2025-09-04T18:34:31.053Z,1757010871.053 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.516052
2025-09-04T18:34:31.209Z,1757010871.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:31.306Z,1757010871.306 [DAT](INFO): DAT read: Rx Time:18:34:30.0354

2025-09-04T18:34:31.307Z,1757010871.307 [DAT](INFO): Rx dataTimestamp_ set to:1757010871.306322
2025-09-04T18:34:31.307Z,1757010871.307 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.770146
2025-09-04T18:34:31.557Z,1757010871.557 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.020249
2025-09-04T18:34:31.810Z,1757010871.810 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:31.811Z,1757010871.811 [DAT](INFO): DAT read: user:2872>

2025-09-04T18:34:31.811Z,1757010871.811 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-09-04T18:34:31.812Z,1757010871.812 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.275211
2025-09-04T18:34:32.061Z,1757010872.061 [DAT](INFO): DAT read: Tx time:18:34:31.1287

2025-09-04T18:34:32.062Z,1757010872.062 [DAT](INFO): Ping request sent.
2025-09-04T18:34:32.062Z,1757010872.062 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:32.062Z,1757010872.062 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:32.062Z,1757010872.062 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.000757
2025-09-04T18:34:32.073Z,1757010872.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.275135 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:32.313Z,1757010872.313 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.251295
2025-09-04T18:34:32.567Z,1757010872.567 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.505555
2025-09-04T18:34:32.817Z,1757010872.817 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.755210
2025-09-04T18:34:33.069Z,1757010873.069 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.007370
2025-09-04T18:34:33.234Z,1757010873.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:33.321Z,1757010873.321 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.259664
2025-09-04T18:34:33.573Z,1757010873.573 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.511447
2025-09-04T18:34:33.794Z,1757010873.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:34:33.825Z,1757010873.825 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.763296
2025-09-04T18:34:34.077Z,1757010874.077 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.015317
2025-09-04T18:34:34.329Z,1757010874.329 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.267396
2025-09-04T18:34:34.583Z,1757010874.583 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.521225
2025-09-04T18:34:34.797Z,1757010874.797 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:34:34.833Z,1757010874.833 [DAT](INFO): DAT read: Rx Time:18:34:33.5354

2025-09-04T18:34:34.834Z,1757010874.834 [DAT](INFO): Rx dataTimestamp_ set to:1757010874.833267
2025-09-04T18:34:34.834Z,1757010874.834 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.772440
2025-09-04T18:34:35.085Z,1757010875.085 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.023431
2025-09-04T18:34:35.245Z,1757010875.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:35.339Z,1757010875.339 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:35.341Z,1757010875.341 [DAT](INFO): DAT read: user:2873>

2025-09-04T18:34:35.343Z,1757010875.343 [DAT](INFO): DAT read: Tx time:18:34:34.6287

2025-09-04T18:34:35.343Z,1757010875.343 [DAT](INFO): Ping request sent.
2025-09-04T18:34:35.343Z,1757010875.343 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:35.344Z,1757010875.344 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-09-04T18:34:35.345Z,1757010875.345 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:35.346Z,1757010875.346 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:35.347Z,1757010875.347 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.004090
2025-09-04T18:34:35.589Z,1757010875.589 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.245973
2025-09-04T18:34:35.693Z,1757010875.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.528238 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:35.843Z,1757010875.843 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.499489
2025-09-04T18:34:36.094Z,1757010876.094 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.750705
2025-09-04T18:34:36.346Z,1757010876.346 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.002556
2025-09-04T18:34:36.599Z,1757010876.599 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.256114
2025-09-04T18:34:36.850Z,1757010876.850 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.507161
2025-09-04T18:34:37.101Z,1757010877.101 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.757967
2025-09-04T18:34:37.268Z,1757010877.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:37.354Z,1757010877.354 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.010838
2025-09-04T18:34:37.605Z,1757010877.605 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.261940
2025-09-04T18:34:37.858Z,1757010877.858 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.514648
2025-09-04T18:34:38.111Z,1757010878.111 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.768322
2025-09-04T18:34:38.362Z,1757010878.362 [DAT](INFO): DAT read: Rx Time:18:34:37.0355

2025-09-04T18:34:38.362Z,1757010878.362 [DAT](INFO): Rx dataTimestamp_ set to:1757010878.361917
2025-09-04T18:34:38.364Z,1757010878.364 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.020318
2025-09-04T18:34:38.614Z,1757010878.614 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.270497
2025-09-04T18:34:38.866Z,1757010878.866 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:38.867Z,1757010878.867 [DAT](INFO): DAT read: user:2874>

2025-09-04T18:34:38.868Z,1757010878.868 [DAT](INFO): DAT read: Tx time:18:34:38.1287

2025-09-04T18:34:38.868Z,1757010878.868 [DAT](INFO): Ping request sent.
2025-09-04T18:34:38.868Z,1757010878.868 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:38.868Z,1757010878.868 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-09-04T18:34:38.868Z,1757010878.868 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:38.869Z,1757010878.869 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:38.870Z,1757010878.870 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.001867
2025-09-04T18:34:38.973Z,1757010878.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527657 s,
      deltaX: 0.100000 m,
      approachRate: 0.028347 m/s,
      rangeRepo size: 4

2025-09-04T18:34:39.117Z,1757010879.117 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.249136
2025-09-04T18:34:39.280Z,1757010879.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:39.369Z,1757010879.369 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.501244
2025-09-04T18:34:39.621Z,1757010879.621 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.752975
2025-09-04T18:34:39.873Z,1757010879.873 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.004995
2025-09-04T18:34:40.125Z,1757010880.125 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.257428
2025-09-04T18:34:40.377Z,1757010880.377 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.508982
2025-09-04T18:34:40.630Z,1757010880.630 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.761931
2025-09-04T18:34:40.881Z,1757010880.881 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.013034
2025-09-04T18:34:41.133Z,1757010881.133 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.265200
2025-09-04T18:34:41.318Z,1757010881.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:41.386Z,1757010881.386 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.517641
2025-09-04T18:34:41.637Z,1757010881.637 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.769207
2025-09-04T18:34:41.890Z,1757010881.890 [DAT](INFO): DAT read: Rx Time:18:34:40.5355

2025-09-04T18:34:41.891Z,1757010881.891 [DAT](INFO): Rx dataTimestamp_ set to:1757010881.890524
2025-09-04T18:34:41.891Z,1757010881.891 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.023302
2025-09-04T18:34:42.141Z,1757010882.141 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.272985
2025-09-04T18:34:42.394Z,1757010882.394 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:42.395Z,1757010882.395 [DAT](INFO): DAT read: user:2875>

2025-09-04T18:34:42.396Z,1757010882.396 [DAT](INFO): DAT read: Tx time:18:34:41.6286

2025-09-04T18:34:42.396Z,1757010882.396 [DAT](INFO): Ping request sent.
2025-09-04T18:34:42.396Z,1757010882.396 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:42.396Z,1757010882.396 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-09-04T18:34:42.397Z,1757010882.397 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:42.397Z,1757010882.397 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:42.398Z,1757010882.398 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.001848
2025-09-04T18:34:42.596Z,1757010882.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.528093 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:42.645Z,1757010882.645 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.249076
2025-09-04T18:34:42.897Z,1757010882.897 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.500829
2025-09-04T18:34:43.149Z,1757010883.149 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.752882
2025-09-04T18:34:43.331Z,1757010883.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:43.401Z,1757010883.401 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.005326
2025-09-04T18:34:43.653Z,1757010883.653 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.256893
2025-09-04T18:34:43.905Z,1757010883.905 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.508958
2025-09-04T18:34:44.157Z,1757010884.157 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.760838
2025-09-04T18:34:44.409Z,1757010884.409 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.012824
2025-09-04T18:34:44.661Z,1757010884.661 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.264955
2025-09-04T18:34:44.913Z,1757010884.913 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.517002
2025-09-04T18:34:45.165Z,1757010885.165 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.768863
2025-09-04T18:34:45.366Z,1757010885.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:45.419Z,1757010885.419 [DAT](INFO): DAT read: Rx Time:18:34:44.0354

2025-09-04T18:34:45.419Z,1757010885.419 [DAT](INFO): Rx dataTimestamp_ set to:1757010885.418754
2025-09-04T18:34:45.420Z,1757010885.420 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.023884
2025-09-04T18:34:45.669Z,1757010885.669 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.272880
2025-09-04T18:34:45.922Z,1757010885.922 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:34:45.923Z,1757010885.923 [DAT](INFO): DAT read: user:2876>

2025-09-04T18:34:45.923Z,1757010885.923 [DAT](INFO): DAT read: Tx time:18:34:45.1286

2025-09-04T18:34:45.924Z,1757010885.924 [DAT](INFO): Ping request sent.
2025-09-04T18:34:45.924Z,1757010885.924 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:45.924Z,1757010885.924 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-09-04T18:34:45.924Z,1757010885.924 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:45.925Z,1757010885.925 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:45.926Z,1757010885.926 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.001941
2025-09-04T18:34:46.161Z,1757010886.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527721 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:46.173Z,1757010886.173 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.249301
2025-09-04T18:34:46.425Z,1757010886.425 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.501311
2025-09-04T18:34:46.677Z,1757010886.677 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.753278
2025-09-04T18:34:46.929Z,1757010886.929 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.005310
2025-09-04T18:34:47.182Z,1757010887.182 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.257914
2025-09-04T18:34:47.393Z,1757010887.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:47.436Z,1757010887.436 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.511926
2025-09-04T18:34:47.685Z,1757010887.685 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.761588
2025-09-04T18:34:47.937Z,1757010887.937 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.013335
2025-09-04T18:34:48.189Z,1757010888.189 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.265324
2025-09-04T18:34:48.441Z,1757010888.441 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.517490
2025-09-04T18:34:48.697Z,1757010888.697 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.772916
2025-09-04T18:34:48.945Z,1757010888.945 [DAT](INFO): DAT read: Rx Time:18:34:47.5353

2025-09-04T18:34:48.945Z,1757010888.945 [DAT](INFO): Rx dataTimestamp_ set to:1757010888.945138
2025-09-04T18:34:48.946Z,1757010888.946 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.022223
2025-09-04T18:34:49.197Z,1757010889.197 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.273271
2025-09-04T18:34:49.457Z,1757010889.457 [DAT](INFO): DAT read: 18:34:47.5353 LVL= 15344, 12961, 20594, 21411, AGC= 46, IDX= 442,-0.27, 1.905, 0.301, 1.660, 2.734, PHS=-0.727,-2.388,-1.118, RAW= 137.0,  44.9, CAL= 141.9,  54.0, ROT=   8.1, -54.0

2025-09-04T18:34:49.458Z,1757010889.458 [DAT](INFO): got valid direction response:
 18:34:47.5353 LVL= 15344, 12961, 20594, 21411, AGC= 46, IDX= 442,-0.27, 1.905, 0.301, 1.660, 2.734, PHS=-0.727,-2.388,-1.118, RAW= 137.0,  44.9, CAL= 141.9,  54.0, ROT=   8.1, -54.0

2025-09-04T18:34:49.460Z,1757010889.460 [DAT](INFO): DAT read: Bearing 280.1,   7.0 (Local)

2025-09-04T18:34:49.460Z,1757010889.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.1,   7.0 (Local)

2025-09-04T18:34:49.462Z,1757010889.462 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:49.463Z,1757010889.463 [DAT](INFO): DAT read: user:2877>

2025-09-04T18:34:49.463Z,1757010889.463 [DAT](INFO): DAT read: Tx time:18:34:48.6286

2025-09-04T18:34:49.464Z,1757010889.464 [DAT](INFO): Ping request sent.
2025-09-04T18:34:49.464Z,1757010889.464 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:49.464Z,1757010889.464 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-04T18:34:49.465Z,1757010889.465 [DAT](INFO): direction in FSK: [0.581921,0.082820,0.809017]
2025-09-04T18:34:49.465Z,1757010889.465 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:49.466Z,1757010889.466 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:49.470Z,1757010889.470 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:49.471Z,1757010889.471 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:49.483Z,1757010889.483 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.019334
2025-09-04T18:34:49.702Z,1757010889.702 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.237799
2025-09-04T18:34:49.861Z,1757010889.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.528220 s,
      deltaX: -0.100000 m,
      approachRate: -0.028343 m/s,
      rangeRepo size: 4

2025-09-04T18:34:49.863Z,1757010889.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.891878 m,
      bearing: 72.232574 deg,
      lat: 36.779344 deg,
      lon: -121.859466 deg,
      deltaT: 24.443927 s,
      deltaX: -0.099576 m,
      approachRate: -0.004074 m/s,
      posRepo size: 4

2025-09-04T18:34:49.954Z,1757010889.954 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.489751
2025-09-04T18:34:50.205Z,1757010890.205 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.741257
2025-09-04T18:34:50.219Z,1757010890.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:50.457Z,1757010890.457 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.993374
2025-09-04T18:34:50.711Z,1757010890.711 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.247056
2025-09-04T18:34:50.961Z,1757010890.961 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.497157
2025-09-04T18:34:51.213Z,1757010891.213 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.749128
2025-09-04T18:34:51.465Z,1757010891.465 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.001242
2025-09-04T18:34:51.719Z,1757010891.719 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.255045
2025-09-04T18:34:51.969Z,1757010891.969 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.505456
2025-09-04T18:34:52.221Z,1757010892.221 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.757198
2025-09-04T18:34:52.253Z,1757010892.253 [CTD_Seabird](ERROR): Failed to parse device response: 75,2931.79
2025-09-04T18:34:52.474Z,1757010892.474 [DAT](INFO): DAT read: Rx Time:18:34:51.0353

2025-09-04T18:34:52.475Z,1757010892.475 [DAT](INFO): Rx dataTimestamp_ set to:1757010892.473943
2025-09-04T18:34:52.475Z,1757010892.475 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.011228
2025-09-04T18:34:52.621Z,1757010892.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:52.729Z,1757010892.729 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.264280
2025-09-04T18:34:52.983Z,1757010892.983 [DAT](INFO): DAT read: 18:34:51.0353 LVL= 14416, 12785, 22594, 22899, AGC= 46, IDX= 442,-0.11, 0.713,-0.873, 0.454, 1.505, PHS=-0.690,-2.333,-1.095, RAW= 136.3,  44.5, CAL= 141.3,  53.7, ROT=   8.7, -53.7

2025-09-04T18:34:52.992Z,1757010892.992 [DAT](INFO): got valid direction response:
 18:34:51.0353 LVL= 14416, 12785, 22594, 22899, AGC= 46, IDX= 442,-0.11, 0.713,-0.873, 0.454, 1.505, PHS=-0.690,-2.333,-1.095, RAW= 136.3,  44.5, CAL= 141.3,  53.7, ROT=   8.7, -53.7

2025-09-04T18:34:52.993Z,1757010892.993 [DAT](INFO): DAT read: Bearing 281.3,   7.5 (Local)

2025-09-04T18:34:52.993Z,1757010892.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.3,   7.5 (Local)

2025-09-04T18:34:52.995Z,1757010892.995 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:52.995Z,1757010892.995 [DAT](INFO): DAT read: user:2878>

2025-09-04T18:34:53.017Z,1757010893.017 [DAT](INFO): DAT read: Tx time:18:34:52.1286

2025-09-04T18:34:53.017Z,1757010893.017 [DAT](INFO): Ping request sent.
2025-09-04T18:34:53.017Z,1757010893.017 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:53.017Z,1757010893.017 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-09-04T18:34:53.018Z,1757010893.018 [DAT](INFO): direction in FSK: [0.585201,0.089548,0.805928]
2025-09-04T18:34:53.019Z,1757010893.019 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:53.019Z,1757010893.019 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:53.035Z,1757010893.035 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:53.035Z,1757010893.035 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:53.055Z,1757010893.055 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.037490
2025-09-04T18:34:53.123Z,1757010893.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.527929 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:53.130Z,1757010893.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.891878 m,
      bearing: 74.319360 deg,
      lat: 36.779344 deg,
      lon: -121.859466 deg,
      deltaT: 3.527929 s,
      deltaX: -0.000001 m,
      approachRate: -0.000000 m/s,
      posRepo size: 4

2025-09-04T18:34:53.229Z,1757010893.229 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.212199
2025-09-04T18:34:53.482Z,1757010893.482 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.464417
2025-09-04T18:34:53.736Z,1757010893.736 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.718326
2025-09-04T18:34:53.985Z,1757010893.985 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.968213
2025-09-04T18:34:54.237Z,1757010894.237 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.219851
2025-09-04T18:34:54.491Z,1757010894.491 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.473635
2025-09-04T18:34:54.639Z,1757010894.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:54.743Z,1757010894.743 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.725968
2025-09-04T18:34:54.993Z,1757010894.993 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.975890
2025-09-04T18:34:55.245Z,1757010895.245 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.227927
2025-09-04T18:34:55.498Z,1757010895.498 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.480697
2025-09-04T18:34:55.751Z,1757010895.751 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.733554
2025-09-04T18:34:56.001Z,1757010896.001 [DAT](INFO): DAT read: Rx Time:18:34:54.5353

2025-09-04T18:34:56.002Z,1757010896.002 [DAT](INFO): Rx dataTimestamp_ set to:1757010896.001404
2025-09-04T18:34:56.002Z,1757010896.002 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.985152
2025-09-04T18:34:56.253Z,1757010896.253 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.236072
2025-09-04T18:34:56.511Z,1757010896.511 [DAT](INFO): DAT read: 18:34:54.5352 LVL= 13424, 13153, 18226, 22867, AGC= 46, IDX= 442,-0.03, 0.607,-0.860, 0.329, 1.382, PHS=-0.674,-2.198,-1.097, RAW= 134.4,  45.8, CAL= 139.0,  54.7, ROT=  11.0, -54.7

2025-09-04T18:34:56.512Z,1757010896.512 [DAT](INFO): got valid direction response:
 18:34:54.5352 LVL= 13424, 13153, 18226, 22867, AGC= 46, IDX= 442,-0.03, 0.607,-0.860, 0.329, 1.382, PHS=-0.674,-2.198,-1.097, RAW= 134.4,  45.8, CAL= 139.0,  54.7, ROT=  11.0, -54.7

2025-09-04T18:34:56.513Z,1757010896.513 [DAT](INFO): DAT read: Bearing 283.0,   8.1 (Local)

2025-09-04T18:34:56.514Z,1757010896.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.0,   8.1 (Local)

2025-09-04T18:34:56.515Z,1757010896.515 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:34:56.516Z,1757010896.516 [DAT](INFO): DAT read: user:2879>

2025-09-04T18:34:56.517Z,1757010896.517 [DAT](INFO): DAT read: Tx time:18:34:55.6285

2025-09-04T18:34:56.517Z,1757010896.517 [DAT](INFO): Ping request sent.
2025-09-04T18:34:56.517Z,1757010896.517 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:34:56.517Z,1757010896.517 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-04T18:34:56.518Z,1757010896.518 [DAT](INFO): direction in FSK: [0.567241,0.110260,0.816138]
2025-09-04T18:34:56.518Z,1757010896.518 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:56.519Z,1757010896.519 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:56.522Z,1757010896.522 [DAT](INFO): publishing transmit ping time
2025-09-04T18:34:56.522Z,1757010896.522 [DAT](INFO): publishing direction and range info
2025-09-04T18:34:56.526Z,1757010896.526 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.008569
2025-09-04T18:34:56.721Z,1757010896.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.528190 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:34:56.723Z,1757010896.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.891880 m,
      bearing: 77.499614 deg,
      lat: 36.779344 deg,
      lon: -121.859466 deg,
      deltaT: 3.528190 s,
      deltaX: 0.000003 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-09-04T18:34:56.760Z,1757010896.760 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.242818
2025-09-04T18:34:57.009Z,1757010897.009 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.492020
2025-09-04T18:34:57.088Z,1757010897.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:57.261Z,1757010897.261 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.744305
2025-09-04T18:34:57.513Z,1757010897.513 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.996133
2025-09-04T18:34:57.768Z,1757010897.768 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.250101
2025-09-04T18:34:58.017Z,1757010898.017 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.500111
2025-09-04T18:34:58.269Z,1757010898.269 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.751983
2025-09-04T18:34:58.521Z,1757010898.521 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.004103
2025-09-04T18:34:58.773Z,1757010898.773 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.255929
2025-09-04T18:34:59.025Z,1757010899.025 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.508084
2025-09-04T18:34:59.126Z,1757010899.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:34:59.285Z,1757010899.285 [DAT](INFO): DAT read: Rx Time:18:34:58.0353

2025-09-04T18:34:59.286Z,1757010899.286 [DAT](INFO): Rx dataTimestamp_ set to:1757010899.285229
2025-09-04T18:34:59.286Z,1757010899.286 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.769105
2025-09-04T18:34:59.529Z,1757010899.529 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.012143
2025-09-04T18:34:59.781Z,1757010899.781 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.263969
2025-09-04T18:34:59.887Z,1757010899.887 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  82.62,  86.36,  83.98, 

2025-09-04T18:34:59.957Z,1757010899.957 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:35:00.041Z,1757010900.041 [DAT](INFO): DAT read: 18:34:58.0353 LVL= 13808, 13649, 18642, 22259, AGC= 46, IDX= 442, 0.12, 0.846,-0.332, 0.724, 1.745, PHS=-0.797,-2.032,-1.065, RAW= 138.1,  50.7, CAL= 142.4,  58.7, ROT=   7.6, -58.7

2025-09-04T18:35:00.043Z,1757010900.043 [DAT](INFO): got valid direction response:
 18:34:58.0353 LVL= 13808, 13649, 18642, 22259, AGC= 46, IDX= 442, 0.12, 0.846,-0.332, 0.724, 1.745, PHS=-0.797,-2.032,-1.065, RAW= 138.1,  50.7, CAL= 142.4,  58.7, ROT=   7.6, -58.7

2025-09-04T18:35:00.046Z,1757010900.046 [DAT](INFO): DAT read: Bearing 284.0,   6.0 (Local)

2025-09-04T18:35:00.046Z,1757010900.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.0,   6.0 (Local)

2025-09-04T18:35:00.047Z,1757010900.047 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed -0.1 m/s

2025-09-04T18:35:00.070Z,1757010900.070 [DAT](INFO): DAT read: user:2880>

2025-09-04T18:35:00.071Z,1757010900.071 [DAT](INFO): DAT read: Tx time:18:34:59.1285

2025-09-04T18:35:00.071Z,1757010900.071 [DAT](INFO): Ping request sent.
2025-09-04T18:35:00.071Z,1757010900.071 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:00.084Z,1757010900.084 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-04T18:35:00.085Z,1757010900.085 [DAT](INFO): direction in FSK: [0.514955,0.068710,0.854459]
2025-09-04T18:35:00.085Z,1757010900.085 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:00.085Z,1757010900.085 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:00.093Z,1757010900.093 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:00.093Z,1757010900.093 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:00.113Z,1757010900.113 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.031574
2025-09-04T18:35:00.285Z,1757010900.285 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.213670
2025-09-04T18:35:00.429Z,1757010900.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.528103 s,
      deltaX: 0.100000 m,
      approachRate: 0.028344 m/s,
      rangeRepo size: 4

2025-09-04T18:35:00.431Z,1757010900.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.991446 m,
      bearing: 67.020909 deg,
      lat: 36.779344 deg,
      lon: -121.859466 deg,
      deltaT: 3.528103 s,
      deltaX: 0.099566 m,
      approachRate: 0.028221 m/s,
      posRepo size: 4

2025-09-04T18:35:00.537Z,1757010900.537 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.465798
2025-09-04T18:35:00.790Z,1757010900.790 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.718525
2025-09-04T18:35:01.042Z,1757010901.042 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.970375
2025-09-04T18:35:01.155Z,1757010901.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:01.295Z,1757010901.295 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.223129
2025-09-04T18:35:01.545Z,1757010901.545 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.473717
2025-09-04T18:35:01.800Z,1757010901.800 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.728085
2025-09-04T18:35:02.050Z,1757010902.050 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.978068
2025-09-04T18:35:02.302Z,1757010902.302 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.230851
2025-09-04T18:35:02.391Z,1757010902.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.00 m.
2025-09-04T18:35:02.391Z,1757010902.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-09-04T18:35:02.553Z,1757010902.553 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.481964
2025-09-04T18:35:02.806Z,1757010902.806 [DAT](INFO): DAT read: Rx Time:18:35:01.5353

2025-09-04T18:35:02.807Z,1757010902.807 [DAT](INFO): Rx dataTimestamp_ set to:1757010902.806017
2025-09-04T18:35:02.808Z,1757010902.808 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.736417
2025-09-04T18:35:03.057Z,1757010903.057 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.985728
2025-09-04T18:35:03.311Z,1757010903.311 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:03.313Z,1757010903.313 [DAT](INFO): DAT read: user:2881>

2025-09-04T18:35:03.313Z,1757010903.313 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-09-04T18:35:03.315Z,1757010903.315 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.243149
2025-09-04T18:35:03.531Z,1757010903.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:03.534Z,1757010903.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.276229 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-09-04T18:35:03.561Z,1757010903.561 [DAT](INFO): DAT read: Tx time:18:35:02.6285

2025-09-04T18:35:03.561Z,1757010903.561 [DAT](INFO): Ping request sent.
2025-09-04T18:35:03.562Z,1757010903.562 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:03.562Z,1757010903.562 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:03.562Z,1757010903.562 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.000758
2025-09-04T18:35:03.815Z,1757010903.815 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.253205
2025-09-04T18:35:04.065Z,1757010904.065 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.503524
2025-09-04T18:35:04.317Z,1757010904.317 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.755527
2025-09-04T18:35:04.571Z,1757010904.571 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.009286
2025-09-04T18:35:04.822Z,1757010904.822 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.260296
2025-09-04T18:35:04.932Z,1757010904.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:35:05.073Z,1757010905.073 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.511381
2025-09-04T18:35:05.325Z,1757010905.325 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.763484
2025-09-04T18:35:05.543Z,1757010905.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:05.580Z,1757010905.580 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.018466
2025-09-04T18:35:05.829Z,1757010905.829 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.267481
2025-09-04T18:35:05.934Z,1757010905.934 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:35:06.003Z,1757010906.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.00 m. Lat: 36.779344 Lon: -121.859466 Cable present. Reached intercept timeout.
2025-09-04T18:35:06.003Z,1757010906.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-09-04T18:35:06.003Z,1757010906.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-04T18:35:06.004Z,1757010906.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-09-04T18:35:06.082Z,1757010906.082 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.519853
2025-09-04T18:35:06.333Z,1757010906.333 [DAT](INFO): DAT read: Rx Time:18:35:05.0353

2025-09-04T18:35:06.334Z,1757010906.334 [DAT](INFO): Rx dataTimestamp_ set to:1757010906.333341
2025-09-04T18:35:06.334Z,1757010906.334 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.772622
2025-09-04T18:35:06.406Z,1757010906.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-09-04T18:35:06.406Z,1757010906.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-09-04T18:35:06.406Z,1757010906.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-09-04T18:35:06.585Z,1757010906.585 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.023394
2025-09-04T18:35:06.752Z,1757010906.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-09-04T18:35:06.753Z,1757010906.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-04T18:35:06.753Z,1757010906.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-09-04T18:35:06.753Z,1757010906.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-04T18:35:06.753Z,1757010906.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-09-04T18:35:06.753Z,1757010906.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-04T18:35:06.754Z,1757010906.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-09-04T18:35:06.754Z,1757010906.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-09-04T18:35:06.754Z,1757010906.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-09-04T18:35:06.754Z,1757010906.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-09-04T18:35:06.754Z,1757010906.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-04T18:35:06.838Z,1757010906.838 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:06.839Z,1757010906.839 [DAT](INFO): DAT read: user:2882>

2025-09-04T18:35:06.840Z,1757010906.840 [DAT](INFO): DAT read: Tx time:18:35:06.1285

2025-09-04T18:35:06.840Z,1757010906.840 [DAT](INFO): Ping request sent.
2025-09-04T18:35:06.840Z,1757010906.840 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:06.841Z,1757010906.841 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-09-04T18:35:06.841Z,1757010906.841 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:06.841Z,1757010906.841 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:06.842Z,1757010906.842 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.001901
2025-09-04T18:35:07.089Z,1757010907.089 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.248784
2025-09-04T18:35:07.187Z,1757010907.187 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-09-04T18:35:07.187Z,1757010907.187 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-04T18:35:07.187Z,1757010907.187 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-04T18:35:07.187Z,1757010907.187 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-04T18:35:07.204Z,1757010907.204 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-09-04T18:35:07.208Z,1757010907.208 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-04T18:35:07.209Z,1757010907.209 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-09-04T18:35:07.209Z,1757010907.209 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-09-04T18:35:07.209Z,1757010907.209 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-09-04T18:35:07.210Z,1757010907.210 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-09-04T18:35:07.341Z,1757010907.341 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.500707
2025-09-04T18:35:07.575Z,1757010907.575 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-09-04T18:35:07.575Z,1757010907.575 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-09-04T18:35:07.575Z,1757010907.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:07.593Z,1757010907.593 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.753051
2025-09-04T18:35:07.845Z,1757010907.845 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.004709
2025-09-04T18:35:08.011Z,1757010908.011 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-09-04T18:35:08.011Z,1757010908.011 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-04T18:35:08.011Z,1757010908.011 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-09-04T18:35:08.097Z,1757010908.097 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.256547
2025-09-04T18:35:08.349Z,1757010908.349 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.508691
2025-09-04T18:35:08.601Z,1757010908.601 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.760665
2025-09-04T18:35:08.853Z,1757010908.853 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.012676
2025-09-04T18:35:09.105Z,1757010909.105 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.264642
2025-09-04T18:35:09.357Z,1757010909.357 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.516799
2025-09-04T18:35:09.609Z,1757010909.609 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.768657
2025-09-04T18:35:09.667Z,1757010909.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:09.861Z,1757010909.861 [DAT](INFO): DAT read: Rx Time:18:35:08.5352

2025-09-04T18:35:09.862Z,1757010909.862 [DAT](INFO): Rx dataTimestamp_ set to:1757010909.861266
2025-09-04T18:35:09.862Z,1757010909.862 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.021753
2025-09-04T18:35:10.113Z,1757010910.113 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.272964
2025-09-04T18:35:10.370Z,1757010910.370 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:35:10.371Z,1757010910.371 [DAT](INFO): DAT read: user:2883>

2025-09-04T18:35:10.371Z,1757010910.371 [DAT](INFO): DAT read: Tx time:18:35:09.6284

2025-09-04T18:35:10.372Z,1757010910.372 [DAT](INFO): Ping request sent.
2025-09-04T18:35:10.372Z,1757010910.372 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:10.372Z,1757010910.372 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-09-04T18:35:10.372Z,1757010910.372 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:10.373Z,1757010910.373 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:10.374Z,1757010910.374 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.001955
2025-09-04T18:35:10.622Z,1757010910.622 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.250025
2025-09-04T18:35:10.807Z,1757010910.807 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-09-04T18:35:10.807Z,1757010910.807 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-09-04T18:35:10.807Z,1757010910.807 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-09-04T18:35:10.807Z,1757010910.807 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-09-04T18:35:10.873Z,1757010910.873 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.501306
2025-09-04T18:35:11.125Z,1757010911.125 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.753461
2025-09-04T18:35:11.220Z,1757010911.220 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-09-04T18:35:11.220Z,1757010911.220 [lineCaptureHoming:LineCapture:M] Stopped
2025-09-04T18:35:11.222Z,1757010911.222 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:G] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:H] Stopped
2025-09-04T18:35:11.223Z,1757010911.223 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-09-04T18:35:11.224Z,1757010911.224 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-04T18:35:11.377Z,1757010911.377 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.005575
2025-09-04T18:35:11.623Z,1757010911.623 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-09-04T18:35:11.623Z,1757010911.623 [lineCaptureHoming:Lap:B] Stopped
2025-09-04T18:35:11.623Z,1757010911.623 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-09-04T18:35:11.623Z,1757010911.623 [lineCaptureHoming:Lap:C] Running Loop=1
2025-09-04T18:35:11.629Z,1757010911.629 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.257463
2025-09-04T18:35:11.881Z,1757010911.881 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.509310
2025-09-04T18:35:12.063Z,1757010912.063 [lineCaptureHoming:Lap:C] Stopped
2025-09-04T18:35:12.063Z,1757010912.063 [lineCaptureHoming:Lap:D] Running Loop=1
2025-09-04T18:35:12.064Z,1757010912.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:12.133Z,1757010912.133 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.761309
2025-09-04T18:35:12.385Z,1757010912.385 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.013256
2025-09-04T18:35:12.438Z,1757010912.438 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-09-04T18:35:12.438Z,1757010912.438 [lineCaptureHoming:Lap:D] Stopped
2025-09-04T18:35:12.438Z,1757010912.438 [lineCaptureHoming:Lap:E] Running Loop=1
2025-09-04T18:35:12.438Z,1757010912.438 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-09-04T18:35:12.637Z,1757010912.637 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.265299
2025-09-04T18:35:12.822Z,1757010912.822 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-09-04T18:35:12.822Z,1757010912.822 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-09-04T18:35:12.822Z,1757010912.822 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-09-04T18:35:12.822Z,1757010912.822 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-09-04T18:35:12.822Z,1757010912.822 [lineCaptureHoming:restartDHCP:A] Stopped
2025-09-04T18:35:12.822Z,1757010912.822 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-09-04T18:35:12.889Z,1757010912.889 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.517348
2025-09-04T18:35:13.141Z,1757010913.141 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.769340
2025-09-04T18:35:13.247Z,1757010913.247 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-09-04T18:35:13.247Z,1757010913.247 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-09-04T18:35:13.247Z,1757010913.247 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-09-04T18:35:13.247Z,1757010913.247 [lineCaptureHoming:restartDHCP] Stopped
2025-09-04T18:35:13.247Z,1757010913.247 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-09-04T18:35:13.268Z,1757010913.268 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-09-04T18:35:13.394Z,1757010913.394 [DAT](INFO): DAT read: Rx Time:18:35:12.0351

2025-09-04T18:35:13.394Z,1757010913.394 [DAT](INFO): Rx dataTimestamp_ set to:1757010913.393998
2025-09-04T18:35:13.395Z,1757010913.395 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.023280
2025-09-04T18:35:13.645Z,1757010913.645 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.273517
2025-09-04T18:35:13.850Z,1757010913.850 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-09-04T18:35:13.850Z,1757010913.850 [lineCaptureHoming:Lap:E] Stopped
2025-09-04T18:35:13.850Z,1757010913.850 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-09-04T18:35:13.851Z,1757010913.851 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-09-04T18:35:13.851Z,1757010913.851 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-09-04T18:35:13.852Z,1757010913.852 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-09-04T18:35:13.898Z,1757010913.898 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:35:13.899Z,1757010913.899 [DAT](INFO): DAT read: user:2884>

2025-09-04T18:35:13.899Z,1757010913.899 [DAT](INFO): DAT read: Tx time:18:35:13.1284

2025-09-04T18:35:13.903Z,1757010913.903 [DAT](INFO): Ping request sent.
2025-09-04T18:35:13.903Z,1757010913.903 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:13.904Z,1757010913.904 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-09-04T18:35:13.904Z,1757010913.904 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:13.905Z,1757010913.905 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:13.906Z,1757010913.906 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.002282
2025-09-04T18:35:13.957Z,1757010913.957 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-09-04UTC183513_sh
  
2025-09-04T18:35:14.149Z,1757010914.149 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.245630
2025-09-04T18:35:14.249Z,1757010914.249 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-09-04T18:35:14.249Z,1757010914.249 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-09-04T18:35:14.249Z,1757010914.249 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-09-04T18:35:14.250Z,1757010914.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:35:14.401Z,1757010914.401 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.498111
2025-09-04T18:35:14.565Z,1757010914.565 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-09-04T18:35:14.565Z,1757010914.565 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-09-04T18:35:14.654Z,1757010914.654 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.750096
2025-09-04T18:35:14.905Z,1757010914.905 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.001565
2025-09-04T18:35:14.933Z,1757010914.933 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-09-04T18:35:14.933Z,1757010914.933 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-09-04T18:35:14.933Z,1757010914.933 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-09-04T18:35:14.934Z,1757010914.934 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-09-04T18:35:15.157Z,1757010915.157 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.253966
2025-09-04T18:35:15.341Z,1757010915.341 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-09-04T18:35:15.341Z,1757010915.341 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-09-04T18:35:15.409Z,1757010915.409 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.506000
2025-09-04T18:35:15.661Z,1757010915.661 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.757613
2025-09-04T18:35:15.913Z,1757010915.913 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.009609
2025-09-04T18:35:15.913Z,1757010915.913 [DAT](INFO): Requesting device enable set for address 50.
2025-09-04T18:35:16.165Z,1757010916.165 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.261661
2025-09-04T18:35:16.165Z,1757010916.165 [DAT](INFO): Requesting device enable set for address 50.
2025-09-04T18:35:16.173Z,1757010916.173 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-04T18:35:16.293Z,1757010916.293 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-04T18:35:16.417Z,1757010916.417 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.513674
2025-09-04T18:35:16.417Z,1757010916.417 [DAT](INFO): Requesting device enable set for address 50.
2025-09-04T18:35:16.669Z,1757010916.669 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.765669
2025-09-04T18:35:16.921Z,1757010916.921 [DAT](INFO): DAT read: Rx Time:18:35:15.5352

2025-09-04T18:35:16.922Z,1757010916.922 [DAT](INFO): Rx dataTimestamp_ set to:1757010916.921195
2025-09-04T18:35:16.922Z,1757010916.922 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.018728
2025-09-04T18:35:17.173Z,1757010917.173 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.269614
2025-09-04T18:35:17.426Z,1757010917.426 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:17.427Z,1757010917.427 [DAT](INFO): DAT read: user:2885>

2025-09-04T18:35:17.427Z,1757010917.427 [DAT](INFO): DAT read: Tx time:18:35:16.6284

2025-09-04T18:35:17.428Z,1757010917.428 [DAT](INFO): Ping request sent.
2025-09-04T18:35:17.433Z,1757010917.433 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:17.433Z,1757010917.433 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-09-04T18:35:17.433Z,1757010917.433 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:17.434Z,1757010917.434 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:17.436Z,1757010917.436 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.007493
2025-09-04T18:35:17.677Z,1757010917.677 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.249523
2025-09-04T18:35:17.929Z,1757010917.929 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.501226
2025-09-04T18:35:18.198Z,1757010918.198 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.769977
2025-09-04T18:35:18.449Z,1757010918.449 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.021250
2025-09-04T18:35:18.701Z,1757010918.701 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.273298
2025-09-04T18:35:18.953Z,1757010918.953 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.525302
2025-09-04T18:35:19.205Z,1757010919.205 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.777218
2025-09-04T18:35:19.458Z,1757010919.458 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.029730
2025-09-04T18:35:19.709Z,1757010919.709 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.281129
2025-09-04T18:35:19.954Z,1757010919.954 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:35:19.961Z,1757010919.961 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.533211
2025-09-04T18:35:20.213Z,1757010920.213 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.785371
2025-09-04T18:35:20.465Z,1757010920.465 [DAT](INFO): DAT read: Rx Time:18:35:19.0352

2025-09-04T18:35:20.466Z,1757010920.466 [DAT](INFO): Rx dataTimestamp_ set to:1757010920.465255
2025-09-04T18:35:20.466Z,1757010920.466 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.038284
2025-09-04T18:35:20.717Z,1757010920.717 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.289438
2025-09-04T18:35:20.970Z,1757010920.970 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:20.971Z,1757010920.971 [DAT](INFO): DAT read: user:2886>

2025-09-04T18:35:20.971Z,1757010920.971 [DAT](INFO): DAT read: Tx time:18:35:20.1284

2025-09-04T18:35:20.972Z,1757010920.972 [DAT](INFO): Ping request sent.
2025-09-04T18:35:20.972Z,1757010920.972 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:20.972Z,1757010920.972 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-09-04T18:35:20.972Z,1757010920.972 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:20.973Z,1757010920.973 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:20.974Z,1757010920.974 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.002336
2025-09-04T18:35:21.221Z,1757010921.221 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.249291
2025-09-04T18:35:21.474Z,1757010921.474 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.502105
2025-09-04T18:35:21.725Z,1757010921.725 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.753697
2025-09-04T18:35:21.977Z,1757010921.977 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.005233
2025-09-04T18:35:22.229Z,1757010922.229 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.257494
2025-09-04T18:35:22.481Z,1757010922.481 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.509633
2025-09-04T18:35:22.733Z,1757010922.733 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.761488
2025-09-04T18:35:22.989Z,1757010922.989 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.017499
2025-09-04T18:35:23.242Z,1757010923.242 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.270100
2025-09-04T18:35:23.494Z,1757010923.494 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.521980
2025-09-04T18:35:23.746Z,1757010923.746 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.774091
2025-09-04T18:35:23.997Z,1757010923.997 [DAT](INFO): DAT read: Rx Time:18:35:22.5352

2025-09-04T18:35:23.998Z,1757010923.998 [DAT](INFO): Rx dataTimestamp_ set to:1757010923.997230
2025-09-04T18:35:23.998Z,1757010923.998 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.026346
2025-09-04T18:35:24.250Z,1757010924.250 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.278560
2025-09-04T18:35:24.503Z,1757010924.503 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:24.504Z,1757010924.504 [DAT](INFO): DAT read: user:2887>

2025-09-04T18:35:24.505Z,1757010924.505 [DAT](INFO): DAT read: Tx time:18:35:23.6284

2025-09-04T18:35:24.505Z,1757010924.505 [DAT](INFO): Ping request sent.
2025-09-04T18:35:24.505Z,1757010924.505 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:24.506Z,1757010924.506 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-09-04T18:35:24.506Z,1757010924.506 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:24.507Z,1757010924.507 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:24.508Z,1757010924.508 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.002274
2025-09-04T18:35:24.754Z,1757010924.754 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.247814
2025-09-04T18:35:25.005Z,1757010925.005 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.499700
2025-09-04T18:35:25.258Z,1757010925.258 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.752775
2025-09-04T18:35:25.510Z,1757010925.510 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.004209
2025-09-04T18:35:25.762Z,1757010925.762 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.256158
2025-09-04T18:35:26.013Z,1757010926.013 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.507672
2025-09-04T18:35:26.266Z,1757010926.266 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.760727
2025-09-04T18:35:26.517Z,1757010926.517 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.011629
2025-09-04T18:35:26.770Z,1757010926.770 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.263968
2025-09-04T18:35:27.021Z,1757010927.021 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.515604
2025-09-04T18:35:27.276Z,1757010927.276 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.769864
2025-09-04T18:35:27.525Z,1757010927.525 [DAT](INFO): DAT read: Rx Time:18:35:26.0351

2025-09-04T18:35:27.526Z,1757010927.526 [DAT](INFO): Rx dataTimestamp_ set to:1757010927.525331
2025-09-04T18:35:27.526Z,1757010927.526 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.020732
2025-09-04T18:35:27.777Z,1757010927.777 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.271523
2025-09-04T18:35:28.030Z,1757010928.030 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:28.031Z,1757010928.031 [DAT](INFO): DAT read: user:2888>

2025-09-04T18:35:28.031Z,1757010928.031 [DAT](INFO): DAT read: Tx time:18:35:27.1283

2025-09-04T18:35:28.032Z,1757010928.032 [DAT](INFO): Ping request sent.
2025-09-04T18:35:28.032Z,1757010928.032 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:28.032Z,1757010928.032 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-09-04T18:35:28.032Z,1757010928.032 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:28.033Z,1757010928.033 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:28.034Z,1757010928.034 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.002079
2025-09-04T18:35:28.281Z,1757010928.281 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.249379
2025-09-04T18:35:28.533Z,1757010928.533 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.501174
2025-09-04T18:35:28.785Z,1757010928.785 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.753541
2025-09-04T18:35:29.039Z,1757010929.039 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.007416
2025-09-04T18:35:29.291Z,1757010929.291 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.259390
2025-09-04T18:35:29.541Z,1757010929.541 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.509343
2025-09-04T18:35:29.793Z,1757010929.793 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.761283
2025-09-04T18:35:30.045Z,1757010930.045 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.013199
2025-09-04T18:35:30.299Z,1757010930.299 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.266906
2025-09-04T18:35:30.549Z,1757010930.549 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.517677
2025-09-04T18:35:30.801Z,1757010930.801 [DAT](INFO): DAT read: Rx Time:18:35:29.5351

2025-09-04T18:35:30.801Z,1757010930.801 [DAT](INFO): Rx dataTimestamp_ set to:1757010930.801080
2025-09-04T18:35:30.802Z,1757010930.802 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.770177
2025-09-04T18:35:31.053Z,1757010931.053 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.021143
2025-09-04T18:35:31.310Z,1757010931.310 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.277573
2025-09-04T18:35:31.563Z,1757010931.563 [DAT](INFO): DAT read: 18:35:29.5351 LVL= 13424, 11905, 21458, 20099, AGC= 44, IDX= 443,-0.14,-1.881,-3.027,-2.161,-0.843, PHS=-0.935,-2.138,-1.361, RAW= 129.6,  56.0, CAL= 131.7,  62.5, ROT=  18.3, -62.5

2025-09-04T18:35:31.564Z,1757010931.564 [DAT](INFO): got valid direction response:
 18:35:29.5351 LVL= 13424, 11905, 21458, 20099, AGC= 44, IDX= 443,-0.14,-1.881,-3.027,-2.161,-0.843, PHS=-0.935,-2.138,-1.361, RAW= 129.6,  56.0, CAL= 131.7,  62.5, ROT=  18.3, -62.5

2025-09-04T18:35:31.565Z,1757010931.565 [DAT](INFO): DAT read: Bearing 281.8,  11.2 (Local)

2025-09-04T18:35:31.565Z,1757010931.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.8,  11.2 (Local)

2025-09-04T18:35:31.567Z,1757010931.567 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:31.567Z,1757010931.567 [DAT](INFO): DAT read: user:2889>

2025-09-04T18:35:31.568Z,1757010931.568 [DAT](INFO): DAT read: Tx time:18:35:30.6283

2025-09-04T18:35:31.569Z,1757010931.569 [DAT](INFO): Ping request sent.
2025-09-04T18:35:31.569Z,1757010931.569 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:31.569Z,1757010931.569 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-09-04T18:35:31.570Z,1757010931.570 [DAT](INFO): direction in FSK: [0.438396,0.144986,0.887011]
2025-09-04T18:35:31.570Z,1757010931.570 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:31.570Z,1757010931.570 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:31.578Z,1757010931.578 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:31.578Z,1757010931.578 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:31.591Z,1757010931.591 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.021959
2025-09-04T18:35:31.809Z,1757010931.809 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.240583
2025-09-04T18:35:32.062Z,1757010932.062 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.492922
2025-09-04T18:35:32.316Z,1757010932.316 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.747188
2025-09-04T18:35:32.565Z,1757010932.565 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.996616
2025-09-04T18:35:32.817Z,1757010932.817 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.248474
2025-09-04T18:35:33.069Z,1757010933.069 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.500262
2025-09-04T18:35:33.323Z,1757010933.323 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.754399
2025-09-04T18:35:33.573Z,1757010933.573 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.004377
2025-09-04T18:35:33.825Z,1757010933.825 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.256319
2025-09-04T18:35:34.077Z,1757010934.077 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.508345
2025-09-04T18:35:34.332Z,1757010934.332 [DAT](INFO): DAT read: Rx Time:18:35:33.0350

2025-09-04T18:35:34.333Z,1757010934.333 [DAT](INFO): Rx dataTimestamp_ set to:1757010934.332707
2025-09-04T18:35:34.335Z,1757010934.335 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.766120
2025-09-04T18:35:34.581Z,1757010934.581 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.012396
2025-09-04T18:35:34.864Z,1757010934.864 [DAT](INFO): DAT read: 18:35:33.0350 LVL= 13200, 13585, 18770, 20355, AGC= 44, IDX= 442,-0.07,-3.042, 1.902, 2.334,-2.448, PHS=-0.492,-1.888,-1.546, RAW= 103.6,  47.8, CAL= 101.8,  53.4, ROT=  48.2, -53.4

2025-09-04T18:35:34.865Z,1757010934.865 [DAT](INFO): got valid direction response:
 18:35:33.0350 LVL= 13200, 13585, 18770, 20355, AGC= 44, IDX= 442,-0.07,-3.042, 1.902, 2.334,-2.448, PHS=-0.492,-1.888,-1.546, RAW= 103.6,  47.8, CAL= 101.8,  53.4, ROT=  48.2, -53.4

2025-09-04T18:35:34.866Z,1757010934.866 [DAT](INFO): DAT read: Bearing 276.1,  28.1 (Local)

2025-09-04T18:35:34.866Z,1757010934.866 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.1,  28.1 (Local)

2025-09-04T18:35:34.872Z,1757010934.872 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:35:34.873Z,1757010934.873 [DAT](INFO): DAT read: user:2890>

2025-09-04T18:35:34.874Z,1757010934.874 [DAT](INFO): DAT read: Tx time:18:35:34.1283

2025-09-04T18:35:34.874Z,1757010934.874 [DAT](INFO): Ping request sent.
2025-09-04T18:35:34.874Z,1757010934.874 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:34.875Z,1757010934.875 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-09-04T18:35:34.876Z,1757010934.876 [DAT](INFO): direction in FSK: [0.397403,0.444471,0.802817]
2025-09-04T18:35:34.916Z,1757010934.916 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:34.916Z,1757010934.916 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:34.920Z,1757010934.920 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:34.928Z,1757010934.928 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:34.934Z,1757010934.934 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.057356
2025-09-04T18:35:35.085Z,1757010935.085 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.210768
2025-09-04T18:35:35.341Z,1757010935.341 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.465831
2025-09-04T18:35:35.589Z,1757010935.589 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.714470
2025-09-04T18:35:35.841Z,1757010935.841 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.966676
2025-09-04T18:35:36.056Z,1757010936.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:35:36.093Z,1757010936.093 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.218610
2025-09-04T18:35:36.350Z,1757010936.350 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.474628
2025-09-04T18:35:36.597Z,1757010936.597 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.722595
2025-09-04T18:35:36.849Z,1757010936.849 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.974613
2025-09-04T18:35:37.061Z,1757010937.061 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:35:37.101Z,1757010937.101 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.226649
2025-09-04T18:35:37.356Z,1757010937.356 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.481228
2025-09-04T18:35:37.605Z,1757010937.605 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.730670
2025-09-04T18:35:37.858Z,1757010937.858 [DAT](INFO): DAT read: Rx Time:18:35:36.5350

2025-09-04T18:35:37.858Z,1757010937.858 [DAT](INFO): Rx dataTimestamp_ set to:1757010937.857755
2025-09-04T18:35:37.859Z,1757010937.859 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.984235
2025-09-04T18:35:38.109Z,1757010938.109 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.234758
2025-09-04T18:35:38.393Z,1757010938.393 [DAT](INFO): DAT read: 18:35:36.5350 LVL= 13168, 11105, 21170, 20467, AGC= 44, IDX= 442, 0.05, 2.305, 1.062, 2.238,-2.969, PHS=-0.907,-2.207,-1.121, RAW= 141.2,  51.1, CAL= 145.3,  59.1, ROT=   4.7, -59.1

2025-09-04T18:35:38.400Z,1757010938.400 [DAT](INFO): got valid direction response:
 18:35:36.5350 LVL= 13168, 11105, 21170, 20467, AGC= 44, IDX= 442, 0.05, 2.305, 1.062, 2.238,-2.969, PHS=-0.907,-2.207,-1.121, RAW= 141.2,  51.1, CAL= 145.3,  59.1, ROT=   4.7, -59.1

2025-09-04T18:35:38.403Z,1757010938.403 [DAT](INFO): DAT read: Bearing 274.2,   4.6 (Local)

2025-09-04T18:35:38.408Z,1757010938.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.2,   4.6 (Local)

2025-09-04T18:35:38.417Z,1757010938.417 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:35:38.419Z,1757010938.419 [DAT](INFO): DAT read: user:2891>

2025-09-04T18:35:38.419Z,1757010938.419 [DAT](INFO): DAT read: Tx time:18:35:37.6283

2025-09-04T18:35:38.420Z,1757010938.420 [DAT](INFO): Ping request sent.
2025-09-04T18:35:38.420Z,1757010938.420 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:38.424Z,1757010938.424 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-09-04T18:35:38.425Z,1757010938.425 [DAT](INFO): direction in FSK: [0.511814,0.042079,0.858065]
2025-09-04T18:35:38.426Z,1757010938.426 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:38.426Z,1757010938.426 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:38.478Z,1757010938.478 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:38.478Z,1757010938.478 [DAT](INFO): publishing direction and range info
2025-09-04T18:35:38.496Z,1757010938.496 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.075527
2025-09-04T18:35:38.615Z,1757010938.615 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.195191
2025-09-04T18:35:38.866Z,1757010938.866 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.445737
2025-09-04T18:35:39.121Z,1757010939.121 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.701246
2025-09-04T18:35:39.371Z,1757010939.371 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.951280
2025-09-04T18:35:39.621Z,1757010939.621 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.201457
2025-09-04T18:35:39.873Z,1757010939.873 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.453244
2025-09-04T18:35:40.125Z,1757010940.125 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.705381
2025-09-04T18:35:40.377Z,1757010940.377 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.957357
2025-09-04T18:35:40.629Z,1757010940.629 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.209427
2025-09-04T18:35:40.881Z,1757010940.881 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.461307
2025-09-04T18:35:41.133Z,1757010941.133 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.713417
2025-09-04T18:35:41.385Z,1757010941.385 [DAT](INFO): DAT read: Rx Time:18:35:40.0351

2025-09-04T18:35:41.385Z,1757010941.385 [DAT](INFO): Rx dataTimestamp_ set to:1757010941.385175
2025-09-04T18:35:41.386Z,1757010941.386 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.966316
2025-09-04T18:35:41.637Z,1757010941.637 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.217657
2025-09-04T18:35:41.890Z,1757010941.890 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:41.891Z,1757010941.891 [DAT](INFO): DAT read: user:2892>

2025-09-04T18:35:41.891Z,1757010941.891 [DAT](INFO): DAT read: Tx time:18:35:41.1283

2025-09-04T18:35:41.892Z,1757010941.892 [DAT](INFO): Ping request sent.
2025-09-04T18:35:41.892Z,1757010941.892 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:41.892Z,1757010941.892 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-09-04T18:35:41.892Z,1757010941.892 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:41.893Z,1757010941.893 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:41.894Z,1757010941.894 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.002002
2025-09-04T18:35:42.141Z,1757010942.141 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.249402
2025-09-04T18:35:42.393Z,1757010942.393 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.501513
2025-09-04T18:35:42.645Z,1757010942.645 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.753391
2025-09-04T18:35:42.897Z,1757010942.897 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.005065
2025-09-04T18:35:43.153Z,1757010943.153 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.260921
2025-09-04T18:35:43.401Z,1757010943.401 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.509181
2025-09-04T18:35:43.653Z,1757010943.653 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.761205
2025-09-04T18:35:43.905Z,1757010943.905 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.013142
2025-09-04T18:35:44.157Z,1757010944.157 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.265263
2025-09-04T18:35:44.409Z,1757010944.409 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.517214
2025-09-04T18:35:44.661Z,1757010944.661 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.769183
2025-09-04T18:35:44.913Z,1757010944.913 [DAT](INFO): DAT read: Rx Time:18:35:43.5350

2025-09-04T18:35:44.913Z,1757010944.913 [DAT](INFO): Rx dataTimestamp_ set to:1757010944.913202
2025-09-04T18:35:44.914Z,1757010944.914 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.022192
2025-09-04T18:35:45.165Z,1757010945.165 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.273179
2025-09-04T18:35:45.418Z,1757010945.418 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:45.419Z,1757010945.419 [DAT](INFO): DAT read: user:2893>

2025-09-04T18:35:45.419Z,1757010945.419 [DAT](INFO): DAT read: Tx time:18:35:44.6282

2025-09-04T18:35:45.420Z,1757010945.420 [DAT](INFO): Ping request sent.
2025-09-04T18:35:45.420Z,1757010945.420 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:45.420Z,1757010945.420 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-09-04T18:35:45.420Z,1757010945.420 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:45.421Z,1757010945.421 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:45.422Z,1757010945.422 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.001996
2025-09-04T18:35:45.669Z,1757010945.669 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.249336
2025-09-04T18:35:45.921Z,1757010945.921 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.501222
2025-09-04T18:35:46.173Z,1757010946.173 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.753498
2025-09-04T18:35:46.425Z,1757010946.425 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.005381
2025-09-04T18:35:46.677Z,1757010946.677 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.257322
2025-09-04T18:35:46.930Z,1757010946.930 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.509880
2025-09-04T18:35:47.181Z,1757010947.181 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.761305
2025-09-04T18:35:47.433Z,1757010947.433 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.013181
2025-09-04T18:35:47.685Z,1757010947.685 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.265334
2025-09-04T18:35:47.937Z,1757010947.937 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.517289
2025-09-04T18:35:48.189Z,1757010948.189 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.769231
2025-09-04T18:35:48.441Z,1757010948.441 [DAT](INFO): DAT read: Rx Time:18:35:47.0350

2025-09-04T18:35:48.442Z,1757010948.442 [DAT](INFO): Rx dataTimestamp_ set to:1757010948.441543
2025-09-04T18:35:48.442Z,1757010948.442 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.022642
2025-09-04T18:35:48.693Z,1757010948.693 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.273441
2025-09-04T18:35:48.946Z,1757010948.946 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:48.947Z,1757010948.947 [DAT](INFO): DAT read: user:2894>

2025-09-04T18:35:48.947Z,1757010948.947 [DAT](INFO): DAT read: Tx time:18:35:48.1282

2025-09-04T18:35:48.948Z,1757010948.948 [DAT](INFO): Ping request sent.
2025-09-04T18:35:48.948Z,1757010948.948 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:48.948Z,1757010948.948 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-09-04T18:35:48.948Z,1757010948.948 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:48.949Z,1757010948.949 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:48.950Z,1757010948.950 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.001995
2025-09-04T18:35:49.198Z,1757010949.198 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.250387
2025-09-04T18:35:49.449Z,1757010949.449 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.501254
2025-09-04T18:35:49.703Z,1757010949.703 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.754529
2025-09-04T18:35:49.953Z,1757010949.953 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.005390
2025-09-04T18:35:50.206Z,1757010950.206 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.257872
2025-09-04T18:35:50.457Z,1757010950.457 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.509204
2025-09-04T18:35:50.710Z,1757010950.710 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.762252
2025-09-04T18:35:50.961Z,1757010950.961 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.013428
2025-09-04T18:35:51.213Z,1757010951.213 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.265361
2025-09-04T18:35:51.465Z,1757010951.465 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.517277
2025-09-04T18:35:51.718Z,1757010951.718 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.770476
2025-09-04T18:35:51.969Z,1757010951.969 [DAT](INFO): DAT read: Rx Time:18:35:50.5350

2025-09-04T18:35:51.970Z,1757010951.970 [DAT](INFO): Rx dataTimestamp_ set to:1757010951.969277
2025-09-04T18:35:51.970Z,1757010951.970 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.022349
2025-09-04T18:35:52.221Z,1757010952.221 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.273497
2025-09-04T18:35:52.475Z,1757010952.475 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:52.476Z,1757010952.476 [DAT](INFO): DAT read: user:2895>

2025-09-04T18:35:52.477Z,1757010952.477 [DAT](INFO): DAT read: Tx time:18:35:51.6282

2025-09-04T18:35:52.477Z,1757010952.477 [DAT](INFO): Ping request sent.
2025-09-04T18:35:52.478Z,1757010952.478 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:52.478Z,1757010952.478 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-09-04T18:35:52.478Z,1757010952.478 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:52.479Z,1757010952.479 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:52.481Z,1757010952.481 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.003080
2025-09-04T18:35:52.726Z,1757010952.726 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.248718
2025-09-04T18:35:52.978Z,1757010952.978 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.500292
2025-09-04T18:35:53.229Z,1757010953.229 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.751593
2025-09-04T18:35:53.481Z,1757010953.481 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.003873
2025-09-04T18:35:53.733Z,1757010953.733 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.255794
2025-09-04T18:35:53.985Z,1757010953.985 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.507518
2025-09-04T18:35:54.237Z,1757010954.237 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.759496
2025-09-04T18:35:54.490Z,1757010954.490 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.012290
2025-09-04T18:35:54.741Z,1757010954.741 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.263634
2025-09-04T18:35:54.994Z,1757010954.994 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.516129
2025-09-04T18:35:55.245Z,1757010955.245 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.767447
2025-09-04T18:35:55.498Z,1757010955.498 [DAT](INFO): DAT read: Rx Time:18:35:54.0349

2025-09-04T18:35:55.498Z,1757010955.498 [DAT](INFO): Rx dataTimestamp_ set to:1757010955.497965
2025-09-04T18:35:55.499Z,1757010955.499 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.021577
2025-09-04T18:35:55.749Z,1757010955.749 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.271533
2025-09-04T18:35:56.002Z,1757010956.002 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:56.003Z,1757010956.003 [DAT](INFO): DAT read: user:2896>

2025-09-04T18:35:56.004Z,1757010956.004 [DAT](INFO): DAT read: Tx time:18:35:55.1281

2025-09-04T18:35:56.004Z,1757010956.004 [DAT](INFO): Ping request sent.
2025-09-04T18:35:56.004Z,1757010956.004 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:56.004Z,1757010956.004 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-09-04T18:35:56.004Z,1757010956.004 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:56.005Z,1757010956.005 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:56.006Z,1757010956.006 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.001848
2025-09-04T18:35:56.253Z,1757010956.253 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.249130
2025-09-04T18:35:56.505Z,1757010956.505 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.501266
2025-09-04T18:35:56.757Z,1757010956.757 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.752992
2025-09-04T18:35:57.010Z,1757010957.010 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.006058
2025-09-04T18:35:57.261Z,1757010957.261 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.256970
2025-09-04T18:35:57.513Z,1757010957.513 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.508950
2025-09-04T18:35:57.765Z,1757010957.765 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.761057
2025-09-04T18:35:58.017Z,1757010958.017 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.012870
2025-09-04T18:35:58.269Z,1757010958.269 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.264964
2025-09-04T18:35:58.525Z,1757010958.525 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.521013
2025-09-04T18:35:58.777Z,1757010958.777 [DAT](INFO): DAT read: Rx Time:18:35:57.5349

2025-09-04T18:35:58.778Z,1757010958.778 [DAT](INFO): Rx dataTimestamp_ set to:1757010958.777226
2025-09-04T18:35:58.778Z,1757010958.778 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.773979
2025-09-04T18:35:59.030Z,1757010959.030 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.025887
2025-09-04T18:35:59.281Z,1757010959.281 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.276965
2025-09-04T18:35:59.534Z,1757010959.534 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:35:59.535Z,1757010959.535 [DAT](INFO): DAT read: user:2897>

2025-09-04T18:35:59.535Z,1757010959.535 [DAT](INFO): DAT read: Tx time:18:35:58.6281

2025-09-04T18:35:59.536Z,1757010959.536 [DAT](INFO): Ping request sent.
2025-09-04T18:35:59.536Z,1757010959.536 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:35:59.536Z,1757010959.536 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-09-04T18:35:59.536Z,1757010959.536 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:59.537Z,1757010959.537 [DAT](INFO): publishing transmit ping time
2025-09-04T18:35:59.538Z,1757010959.538 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.001930
2025-09-04T18:35:59.785Z,1757010959.785 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.249129
2025-09-04T18:36:00.037Z,1757010960.037 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.501400
2025-09-04T18:36:00.289Z,1757010960.289 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.753358
2025-09-04T18:36:00.541Z,1757010960.541 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.005218
2025-09-04T18:36:00.793Z,1757010960.793 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.257327
2025-09-04T18:36:01.046Z,1757010961.046 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.509893
2025-09-04T18:36:01.297Z,1757010961.297 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.761267
2025-09-04T18:36:01.549Z,1757010961.549 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.013331
2025-09-04T18:36:01.805Z,1757010961.805 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.269290
2025-09-04T18:36:02.057Z,1757010962.057 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.521199
2025-09-04T18:36:02.310Z,1757010962.310 [DAT](INFO): DAT read: Rx Time:18:36:01.0349

2025-09-04T18:36:02.311Z,1757010962.311 [DAT](INFO): Rx dataTimestamp_ set to:1757010962.309958
2025-09-04T18:36:02.311Z,1757010962.311 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.775386
2025-09-04T18:36:02.561Z,1757010962.561 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.025335
2025-09-04T18:36:02.815Z,1757010962.815 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:36:02.816Z,1757010962.816 [DAT](INFO): DAT read: user:2898>

2025-09-04T18:36:02.816Z,1757010962.816 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-09-04T18:36:02.817Z,1757010962.817 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.281339
2025-09-04T18:36:03.066Z,1757010963.066 [DAT](INFO): DAT read: Tx time:18:36:02.1281

2025-09-04T18:36:03.067Z,1757010963.067 [DAT](INFO): Ping request sent.
2025-09-04T18:36:03.067Z,1757010963.067 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:03.067Z,1757010963.067 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:03.068Z,1757010963.068 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.001252
2025-09-04T18:36:03.317Z,1757010963.317 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.250136
2025-09-04T18:36:03.573Z,1757010963.573 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.505566
2025-09-04T18:36:03.821Z,1757010963.821 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.754222
2025-09-04T18:36:04.074Z,1757010964.074 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.006701
2025-09-04T18:36:04.325Z,1757010964.325 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.258213
2025-09-04T18:36:04.577Z,1757010964.577 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.510211
2025-09-04T18:36:04.829Z,1757010964.829 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.762196
2025-09-04T18:36:05.082Z,1757010965.082 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.014877
2025-09-04T18:36:05.333Z,1757010965.333 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.266208
2025-09-04T18:36:05.586Z,1757010965.586 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.518813
2025-09-04T18:36:05.839Z,1757010965.839 [DAT](INFO): DAT read: Rx Time:18:36:04.5349

2025-09-04T18:36:05.839Z,1757010965.839 [DAT](INFO): Rx dataTimestamp_ set to:1757010965.839116
2025-09-04T18:36:05.840Z,1757010965.840 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.773219
2025-09-04T18:36:06.089Z,1757010966.089 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.022379
2025-09-04T18:36:06.353Z,1757010966.353 [DAT](INFO): DAT read: 18:36:04.5349 LVL= 11552, 12049, 21570, 20531, AGC= 44, IDX= 443,-0.27, 1.968, 0.918, 1.554, 3.017, PHS=-0.947,-2.053,-1.507, RAW= 119.6,  59.0, CAL= 118.8,  64.0, ROT=  31.2, -64.0

2025-09-04T18:36:06.354Z,1757010966.354 [DAT](INFO): got valid direction response:
 18:36:04.5349 LVL= 11552, 12049, 21570, 20531, AGC= 44, IDX= 443,-0.27, 1.968, 0.918, 1.554, 3.017, PHS=-0.947,-2.053,-1.507, RAW= 119.6,  59.0, CAL= 118.8,  64.0, ROT=  31.2, -64.0

2025-09-04T18:36:06.355Z,1757010966.355 [DAT](INFO): DAT read: Bearing 279.8,  16.6 (Local)

2025-09-04T18:36:06.356Z,1757010966.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.8,  16.6 (Local)

2025-09-04T18:36:06.361Z,1757010966.361 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:36:06.362Z,1757010966.362 [DAT](INFO): DAT read: user:2899>

2025-09-04T18:36:06.363Z,1757010966.363 [DAT](INFO): DAT read: Tx time:18:36:05.6281

2025-09-04T18:36:06.363Z,1757010966.363 [DAT](INFO): Ping request sent.
2025-09-04T18:36:06.363Z,1757010966.363 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:06.363Z,1757010966.363 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-09-04T18:36:06.369Z,1757010966.369 [DAT](INFO): direction in FSK: [0.374967,0.227088,0.898794]
2025-09-04T18:36:06.369Z,1757010966.369 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:06.369Z,1757010966.369 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:06.384Z,1757010966.384 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:06.385Z,1757010966.385 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:06.392Z,1757010966.392 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.024601
2025-09-04T18:36:06.593Z,1757010966.593 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.229902
2025-09-04T18:36:06.846Z,1757010966.846 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.482456
2025-09-04T18:36:07.099Z,1757010967.099 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.735514
2025-09-04T18:36:07.349Z,1757010967.349 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.986157
2025-09-04T18:36:07.602Z,1757010967.602 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.239063
2025-09-04T18:36:07.856Z,1757010967.856 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.492058
2025-09-04T18:36:08.105Z,1757010968.105 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.741766
2025-09-04T18:36:08.357Z,1757010968.358 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.994272
2025-09-04T18:36:08.609Z,1757010968.609 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.245737
2025-09-04T18:36:08.861Z,1757010968.861 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.497780
2025-09-04T18:36:09.109Z,1757010969.109 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD      +96.12,1.25,   8.53,  0.00
2025-09-04T18:36:09.113Z,1757010969.113 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.749895
2025-09-04T18:36:09.365Z,1757010969.365 [DAT](INFO): DAT read: Rx Time:18:36:08.0348

2025-09-04T18:36:09.366Z,1757010969.366 [DAT](INFO): Rx dataTimestamp_ set to:1757010969.365232
2025-09-04T18:36:09.366Z,1757010969.366 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.002855
2025-09-04T18:36:09.617Z,1757010969.617 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.253997
2025-09-04T18:36:09.882Z,1757010969.882 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:36:09.893Z,1757010969.893 [DAT](INFO): DAT read: user:2900>

2025-09-04T18:36:09.895Z,1757010969.895 [DAT](INFO): DAT read: Tx time:18:36:09.1280

2025-09-04T18:36:09.928Z,1757010969.928 [DAT](INFO): Ping request sent.
2025-09-04T18:36:09.928Z,1757010969.928 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:09.929Z,1757010969.929 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-09-04T18:36:09.929Z,1757010969.929 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:09.929Z,1757010969.929 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:09.930Z,1757010969.930 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.001912
2025-09-04T18:36:10.122Z,1757010970.122 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.193309
2025-09-04T18:36:10.374Z,1757010970.374 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.445498
2025-09-04T18:36:10.625Z,1757010970.625 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.696796
2025-09-04T18:36:10.901Z,1757010970.901 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.972681
2025-09-04T18:36:11.154Z,1757010971.154 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.225158
2025-09-04T18:36:11.405Z,1757010971.405 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.476756
2025-09-04T18:36:11.659Z,1757010971.659 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.730301
2025-09-04T18:36:11.913Z,1757010971.913 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.984294
2025-09-04T18:36:12.162Z,1757010972.162 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.233951
2025-09-04T18:36:12.413Z,1757010972.413 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.484713
2025-09-04T18:36:12.666Z,1757010972.666 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.737418
2025-09-04T18:36:12.929Z,1757010972.929 [DAT](INFO): DAT read: Rx Time:18:36:11.5349

2025-09-04T18:36:12.929Z,1757010972.929 [DAT](INFO): Rx dataTimestamp_ set to:1757010972.928997
2025-09-04T18:36:12.930Z,1757010972.930 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.001884
2025-09-04T18:36:13.178Z,1757010973.178 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.249741
2025-09-04T18:36:13.430Z,1757010973.430 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-09-04T18:36:13.431Z,1757010973.431 [DAT](INFO): DAT read: user:2901>

2025-09-04T18:36:13.431Z,1757010973.431 [DAT](INFO): DAT read: Tx time:18:36:12.6280

2025-09-04T18:36:13.432Z,1757010973.432 [DAT](INFO): Ping request sent.
2025-09-04T18:36:13.432Z,1757010973.432 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:13.432Z,1757010973.432 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-09-04T18:36:13.432Z,1757010973.432 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:13.433Z,1757010973.433 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:13.434Z,1757010973.434 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.001920
2025-09-04T18:36:13.683Z,1757010973.683 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.250521
2025-09-04T18:36:13.936Z,1757010973.936 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.503402
2025-09-04T18:36:14.185Z,1757010974.185 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.753473
2025-09-04T18:36:14.437Z,1757010974.437 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.005355
2025-09-04T18:36:14.689Z,1757010974.689 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.257260
2025-09-04T18:36:14.943Z,1757010974.943 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.510784
2025-09-04T18:36:15.193Z,1757010975.193 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.761415
2025-09-04T18:36:15.445Z,1757010975.445 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.013233
2025-09-04T18:36:15.541Z,1757010975.541 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-09-04T18:36:15.541Z,1757010975.541 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-09-04T18:36:15.558Z,1757010975.558 [DockingStepper](INFO): Changing to mode: 4
2025-09-04T18:36:15.697Z,1757010975.697 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.265256
2025-09-04T18:36:15.952Z,1757010975.952 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.519589
2025-09-04T18:36:16.201Z,1757010976.201 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.769362
2025-09-04T18:36:16.453Z,1757010976.453 [DAT](INFO): DAT read: Rx Time:18:36:15.0349

2025-09-04T18:36:16.453Z,1757010976.453 [DAT](INFO): Rx dataTimestamp_ set to:1757010976.453172
2025-09-04T18:36:16.454Z,1757010976.454 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.022287
2025-09-04T18:36:16.705Z,1757010976.705 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.273318
2025-09-04T18:36:16.962Z,1757010976.962 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-09-04T18:36:16.966Z,1757010976.966 [DAT](INFO): DAT read: user:2902>

2025-09-04T18:36:16.969Z,1757010976.969 [DAT](INFO): DAT read: Tx time:18:36:16.1280

2025-09-04T18:36:16.970Z,1757010976.970 [DAT](INFO): Ping request sent.
2025-09-04T18:36:16.970Z,1757010976.970 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:16.971Z,1757010976.971 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-09-04T18:36:16.972Z,1757010976.972 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:16.977Z,1757010976.977 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:17.018Z,1757010977.018 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.048015
2025-09-04T18:36:17.209Z,1757010977.209 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.239504
2025-09-04T18:36:17.461Z,1757010977.461 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.491359
2025-09-04T18:36:17.714Z,1757010977.714 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.744482
2025-09-04T18:36:17.969Z,1757010977.969 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.999275
2025-09-04T18:36:18.218Z,1757010978.218 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.247928
2025-09-04T18:36:18.476Z,1757010978.476 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.505106
2025-09-04T18:36:18.721Z,1757010978.721 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.751668
2025-09-04T18:36:18.975Z,1757010978.975 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.005309
2025-09-04T18:36:19.225Z,1757010979.225 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.255632
2025-09-04T18:36:19.478Z,1757010979.478 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.507964
2025-09-04T18:36:19.729Z,1757010979.729 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.759609
2025-09-04T18:36:19.983Z,1757010979.983 [DAT](INFO): DAT read: Rx Time:18:36:18.5349

2025-09-04T18:36:19.985Z,1757010979.985 [DAT](INFO): Rx dataTimestamp_ set to:1757010979.983376
2025-09-04T18:36:19.987Z,1757010979.987 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.016370
2025-09-04T18:36:20.070Z,1757010980.070 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00031122235161,35.0, +11.2,   0.0,149
2025-09-04T18:36:20.234Z,1757010980.234 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.264096
2025-09-04T18:36:20.488Z,1757010980.488 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-09-04T18:36:20.490Z,1757010980.490 [DAT](INFO): DAT read: user:2903>

2025-09-04T18:36:20.491Z,1757010980.491 [DAT](INFO): DAT read: Tx time:18:36:19.6280

2025-09-04T18:36:20.491Z,1757010980.491 [DAT](INFO): Ping request sent.
2025-09-04T18:36:20.492Z,1757010980.492 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:20.493Z,1757010980.493 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-09-04T18:36:20.493Z,1757010980.493 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:20.494Z,1757010980.494 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:20.496Z,1757010980.496 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.003713
2025-09-04T18:36:20.737Z,1757010980.737 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.245461
2025-09-04T18:36:20.991Z,1757010980.991 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.499493
2025-09-04T18:36:21.241Z,1757010981.241 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.749625
2025-09-04T18:36:21.494Z,1757010981.494 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.002016
2025-09-04T18:36:21.745Z,1757010981.745 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.253721
2025-09-04T18:36:22.000Z,1757010982.000 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.508118
2025-09-04T18:36:22.249Z,1757010982.249 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.757511
2025-09-04T18:36:22.503Z,1757010982.503 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.011706
2025-09-04T18:36:22.753Z,1757010982.753 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.261510
2025-09-04T18:36:23.005Z,1757010983.005 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.513522
2025-09-04T18:36:23.257Z,1757010983.257 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.765546
2025-09-04T18:36:23.509Z,1757010983.509 [DAT](INFO): DAT read: Rx Time:18:36:22.0346

2025-09-04T18:36:23.510Z,1757010983.510 [DAT](INFO): Rx dataTimestamp_ set to:1757010983.509324
2025-09-04T18:36:23.510Z,1757010983.510 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.018613
2025-09-04T18:36:23.761Z,1757010983.761 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.269549
2025-09-04T18:36:24.014Z,1757010984.014 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:36:24.015Z,1757010984.015 [DAT](INFO): DAT read: user:2904>

2025-09-04T18:36:24.015Z,1757010984.015 [DAT](INFO): DAT read: Tx time:18:36:23.1279

2025-09-04T18:36:24.016Z,1757010984.016 [DAT](INFO): Ping request sent.
2025-09-04T18:36:24.016Z,1757010984.016 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:24.016Z,1757010984.016 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-09-04T18:36:24.016Z,1757010984.016 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:24.017Z,1757010984.017 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:24.018Z,1757010984.018 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.001966
2025-09-04T18:36:24.266Z,1757010984.266 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.249849
2025-09-04T18:36:24.442Z,1757010984.442 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,           ,281.17
2025-09-04T18:36:24.517Z,1757010984.517 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.501266
2025-09-04T18:36:24.769Z,1757010984.769 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.753427
2025-09-04T18:36:25.021Z,1757010985.021 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.005227
2025-09-04T18:36:25.289Z,1757010985.289 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.273647
2025-09-04T18:36:25.541Z,1757010985.541 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.525215
2025-09-04T18:36:25.794Z,1757010985.794 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.777969
2025-09-04T18:36:26.045Z,1757010986.045 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.029238
2025-09-04T18:36:26.297Z,1757010986.297 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.281168
2025-09-04T18:36:26.551Z,1757010986.551 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.535452
2025-09-04T18:36:26.801Z,1757010986.801 [DAT](INFO): DAT read: Rx Time:18:36:25.5345

2025-09-04T18:36:26.802Z,1757010986.802 [DAT](INFO): Rx dataTimestamp_ set to:1757010986.801605
2025-09-04T18:36:26.802Z,1757010986.802 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.786642
2025-09-04T18:36:27.053Z,1757010987.053 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.037542
2025-09-04T18:36:27.307Z,1757010987.307 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-09-04T18:36:27.308Z,1757010987.308 [DAT](INFO): DAT read: user:2905>

2025-09-04T18:36:27.308Z,1757010987.308 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-09-04T18:36:27.309Z,1757010987.309 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.293280
2025-09-04T18:36:27.557Z,1757010987.557 [DAT](INFO): DAT read: Tx time:18:36:26.6279

2025-09-04T18:36:27.557Z,1757010987.557 [DAT](INFO): Ping request sent.
2025-09-04T18:36:27.557Z,1757010987.557 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:27.558Z,1757010987.558 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:27.558Z,1757010987.558 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.000750
2025-09-04T18:36:27.809Z,1757010987.809 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.251403
2025-09-04T18:36:28.061Z,1757010988.061 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.503478
2025-09-04T18:36:28.313Z,1757010988.313 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.755512
2025-09-04T18:36:28.570Z,1757010988.570 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.012722
2025-09-04T18:36:28.821Z,1757010988.821 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.263588
2025-09-04T18:36:29.073Z,1757010989.073 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.515667
2025-09-04T18:36:29.326Z,1757010989.326 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.768150
2025-09-04T18:36:29.577Z,1757010989.577 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.019511
2025-09-04T18:36:29.829Z,1757010989.829 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.271525
2025-09-04T18:36:30.081Z,1757010990.081 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.523939
2025-09-04T18:36:30.333Z,1757010990.333 [DAT](INFO): DAT read: Rx Time:18:36:29.0345

2025-09-04T18:36:30.334Z,1757010990.334 [DAT](INFO): Rx dataTimestamp_ set to:1757010990.333243
2025-09-04T18:36:30.334Z,1757010990.334 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.776636
2025-09-04T18:36:30.587Z,1757010990.587 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.029519
2025-09-04T18:36:30.853Z,1757010990.853 [DAT](INFO): DAT read: 18:36:29.0345 LVL= 14784, 19041, 23474, 16771, AGC= 43, IDX= 441, 0.10,-1.519, 2.883,-1.592,-0.980, PHS=-0.437,-2.376,-0.657, RAW= 144.1,  33.7, CAL= 149.9,  45.4, ROT=   0.1, -45.4

2025-09-04T18:36:30.854Z,1757010990.854 [DAT](INFO): got valid direction response:
 18:36:29.0345 LVL= 14784, 19041, 23474, 16771, AGC= 43, IDX= 441, 0.10,-1.519, 2.883,-1.592,-0.980, PHS=-0.437,-2.376,-0.657, RAW= 144.1,  33.7, CAL= 149.9,  45.4, ROT=   0.1, -45.4

2025-09-04T18:36:30.855Z,1757010990.855 [DAT](INFO): DAT read: Bearing 258.5,   2.6 (Local)

2025-09-04T18:36:30.856Z,1757010990.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.5,   2.6 (Local)

2025-09-04T18:36:30.857Z,1757010990.857 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-09-04T18:36:30.858Z,1757010990.858 [DAT](INFO): DAT read: user:2906>

2025-09-04T18:36:30.859Z,1757010990.859 [DAT](INFO): DAT read: Tx time:18:36:30.1279

2025-09-04T18:36:30.859Z,1757010990.859 [DAT](INFO): Ping request sent.
2025-09-04T18:36:30.859Z,1757010990.859 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:30.859Z,1757010990.859 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-09-04T18:36:30.860Z,1757010990.860 [DAT](INFO): direction in FSK: [0.702152,0.001225,0.712026]
2025-09-04T18:36:30.861Z,1757010990.861 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:30.861Z,1757010990.861 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:30.896Z,1757010990.896 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:30.896Z,1757010990.896 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:30.912Z,1757010990.912 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.040675
2025-09-04T18:36:31.089Z,1757010991.089 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.230091
2025-09-04T18:36:31.341Z,1757010991.341 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.482097
2025-09-04T18:36:31.593Z,1757010991.593 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.733980
2025-09-04T18:36:31.845Z,1757010991.845 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.986103
2025-09-04T18:36:32.097Z,1757010992.097 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.238046
2025-09-04T18:36:32.349Z,1757010992.349 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.489930
2025-09-04T18:36:32.601Z,1757010992.601 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.742474
2025-09-04T18:36:32.853Z,1757010992.853 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.993950
2025-09-04T18:36:33.105Z,1757010993.105 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.246259
2025-09-04T18:36:33.357Z,1757010993.357 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.498113
2025-09-04T18:36:33.609Z,1757010993.609 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.750019
2025-09-04T18:36:33.861Z,1757010993.861 [DAT](INFO): DAT read: Rx Time:18:36:32.5346

2025-09-04T18:36:33.862Z,1757010993.862 [DAT](INFO): Rx dataTimestamp_ set to:1757010993.861306
2025-09-04T18:36:33.862Z,1757010993.862 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.003124
2025-09-04T18:36:34.114Z,1757010994.114 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.255227
2025-09-04T18:36:34.366Z,1757010994.366 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:36:34.367Z,1757010994.367 [DAT](INFO): DAT read: user:2907>

2025-09-04T18:36:34.367Z,1757010994.367 [DAT](INFO): DAT read: Tx time:18:36:33.6279

2025-09-04T18:36:34.368Z,1757010994.368 [DAT](INFO): Ping request sent.
2025-09-04T18:36:34.368Z,1757010994.368 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:34.368Z,1757010994.368 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-09-04T18:36:34.368Z,1757010994.368 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:34.369Z,1757010994.369 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:34.370Z,1757010994.370 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.001989
2025-09-04T18:36:34.619Z,1757010994.619 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.251390
2025-09-04T18:36:34.869Z,1757010994.869 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.501216
2025-09-04T18:36:35.122Z,1757010995.122 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.754311
2025-09-04T18:36:35.373Z,1757010995.373 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.005176
2025-09-04T18:36:35.626Z,1757010995.626 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.257704
2025-09-04T18:36:35.877Z,1757010995.877 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.509122
2025-09-04T18:36:36.130Z,1757010996.130 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.762625
2025-09-04T18:36:36.381Z,1757010996.381 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.013232
2025-09-04T18:36:36.635Z,1757010996.635 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.267208
2025-09-04T18:36:36.885Z,1757010996.885 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.517333
2025-09-04T18:36:37.139Z,1757010997.139 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.770463
2025-09-04T18:36:37.389Z,1757010997.389 [DAT](INFO): DAT read: Rx Time:18:36:36.0346

2025-09-04T18:36:37.390Z,1757010997.390 [DAT](INFO): Rx dataTimestamp_ set to:1757010997.389439
2025-09-04T18:36:37.390Z,1757010997.390 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.022468
2025-09-04T18:36:37.642Z,1757010997.642 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.273816
2025-09-04T18:36:37.894Z,1757010997.894 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:36:37.895Z,1757010997.895 [DAT](INFO): DAT read: user:2908>

2025-09-04T18:36:37.896Z,1757010997.896 [DAT](INFO): DAT read: Tx time:18:36:37.1279

2025-09-04T18:36:37.896Z,1757010997.896 [DAT](INFO): Ping request sent.
2025-09-04T18:36:37.896Z,1757010997.896 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:37.897Z,1757010997.897 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-09-04T18:36:37.897Z,1757010997.897 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:37.897Z,1757010997.897 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:37.898Z,1757010997.898 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.001830
2025-09-04T18:36:38.145Z,1757010998.145 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.248526
2025-09-04T18:36:38.397Z,1757010998.397 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.500552
2025-09-04T18:36:38.649Z,1757010998.649 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.752754
2025-09-04T18:36:38.901Z,1757010998.901 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.005064
2025-09-04T18:36:39.153Z,1757010999.153 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.256957
2025-09-04T18:36:39.405Z,1757010999.405 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.508769
2025-09-04T18:36:39.657Z,1757010999.657 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.760786
2025-09-04T18:36:39.913Z,1757010999.913 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.016523
2025-09-04T18:36:40.165Z,1757011000.165 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.268666
2025-09-04T18:36:40.417Z,1757011000.417 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.520648
2025-09-04T18:36:40.669Z,1757011000.669 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.772656
2025-09-04T18:36:40.921Z,1757011000.921 [DAT](INFO): DAT read: Rx Time:18:36:39.5345

2025-09-04T18:36:40.922Z,1757011000.922 [DAT](INFO): Rx dataTimestamp_ set to:1757011000.921272
2025-09-04T18:36:40.922Z,1757011000.922 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.025725
2025-09-04T18:36:41.174Z,1757011001.174 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.277280
2025-09-04T18:36:41.431Z,1757011001.431 [DAT](INFO): DAT read: 18:36:39.5345 LVL= 14528, 13425, 18738, 17811, AGC= 44, IDX= 441, 0.46,-2.985,-2.406, 3.108,-0.833, PHS=-2.050,-1.528,-2.387, RAW= 352.9,  70.4, CAL= 352.3,  72.3, ROT= 157.7, -72.3

2025-09-04T18:36:41.432Z,1757011001.432 [DAT](INFO): got valid direction response:
 18:36:39.5345 LVL= 14528, 13425, 18738, 17811, AGC= 44, IDX= 441, 0.46,-2.985,-2.406, 3.108,-0.833, PHS=-2.050,-1.528,-2.387, RAW= 352.9,  70.4, CAL= 352.3,  72.3, ROT= 157.7, -72.3

2025-09-04T18:36:41.433Z,1757011001.433 [DAT](INFO): DAT read: Bearing 316.8,  11.5 (Local)

2025-09-04T18:36:41.433Z,1757011001.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.8,  11.5 (Local)

2025-09-04T18:36:41.435Z,1757011001.435 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:36:41.435Z,1757011001.435 [DAT](INFO): DAT read: user:2909>

2025-09-04T18:36:41.436Z,1757011001.436 [DAT](INFO): DAT read: Tx time:18:36:40.6278

2025-09-04T18:36:41.436Z,1757011001.436 [DAT](INFO): Ping request sent.
2025-09-04T18:36:41.436Z,1757011001.436 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:41.437Z,1757011001.437 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-09-04T18:36:41.438Z,1757011001.438 [DAT](INFO): direction in FSK: [-0.281294,0.115367,0.952662]
2025-09-04T18:36:41.438Z,1757011001.438 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:41.438Z,1757011001.438 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:41.462Z,1757011001.462 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:41.462Z,1757011001.462 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:41.467Z,1757011001.467 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.030264
2025-09-04T18:36:41.677Z,1757011001.677 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.240496
2025-09-04T18:36:41.930Z,1757011001.930 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.493043
2025-09-04T18:36:42.181Z,1757011002.181 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.744438
2025-09-04T18:36:42.433Z,1757011002.433 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.996492
2025-09-04T18:36:42.685Z,1757011002.685 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.248530
2025-09-04T18:36:42.937Z,1757011002.937 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.500858
2025-09-04T18:36:43.189Z,1757011003.189 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.752521
2025-09-04T18:36:43.441Z,1757011003.441 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.004501
2025-09-04T18:36:43.693Z,1757011003.693 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.256443
2025-09-04T18:36:43.945Z,1757011003.945 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.508474
2025-09-04T18:36:44.197Z,1757011004.197 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.760380
2025-09-04T18:36:44.449Z,1757011004.449 [DAT](INFO): DAT read: Rx Time:18:36:43.0344

2025-09-04T18:36:44.449Z,1757011004.449 [DAT](INFO): Rx dataTimestamp_ set to:1757011004.449193
2025-09-04T18:36:44.450Z,1757011004.450 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=3.013479
2025-09-04T18:36:44.701Z,1757011004.701 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=3.264560
2025-09-04T18:36:44.954Z,1757011004.954 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-09-04T18:36:44.955Z,1757011004.955 [DAT](INFO): DAT read: user:2910>

2025-09-04T18:36:44.955Z,1757011004.955 [DAT](INFO): DAT read: Tx time:18:36:44.1278

2025-09-04T18:36:44.956Z,1757011004.956 [DAT](INFO): Ping request sent.
2025-09-04T18:36:44.956Z,1757011004.956 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:44.957Z,1757011004.957 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-09-04T18:36:44.957Z,1757011004.957 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:44.957Z,1757011004.957 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:44.958Z,1757011004.958 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.002549
2025-09-04T18:36:45.206Z,1757011005.206 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.250187
2025-09-04T18:36:45.457Z,1757011005.457 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.501368
2025-09-04T18:36:45.709Z,1757011005.709 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.753397
2025-09-04T18:36:45.961Z,1757011005.961 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.005254
2025-09-04T18:36:46.213Z,1757011006.213 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.257319
2025-09-04T18:36:46.465Z,1757011006.465 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.509230
2025-09-04T18:36:46.718Z,1757011006.718 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.761966
2025-09-04T18:36:46.969Z,1757011006.969 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.013291
2025-09-04T18:36:47.221Z,1757011007.221 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.265323
2025-09-04T18:36:47.479Z,1757011007.479 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.523646
2025-09-04T18:36:47.737Z,1757011007.737 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.781292
2025-09-04T18:36:47.985Z,1757011007.985 [DAT](INFO): DAT read: Rx Time:18:36:46.5345

2025-09-04T18:36:47.985Z,1757011007.985 [DAT](INFO): Rx dataTimestamp_ set to:1757011007.985171
2025-09-04T18:36:47.986Z,1757011007.986 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.030262
2025-09-04T18:36:48.237Z,1757011008.237 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.281399
2025-09-04T18:36:48.497Z,1757011008.497 [DAT](INFO): DAT read: 18:36:46.5345 LVL= 25744, 20289, 19842, 22979, AGC= 48, IDX= 439,-0.04,-2.720, 3.119, 2.655,-1.608, PHS=-1.010,-1.511,-2.063, RAW=  58.4,  60.6, CAL=  56.1,  64.1, ROT=  93.9, -64.1

2025-09-04T18:36:48.499Z,1757011008.499 [DAT](INFO): got valid direction response:
 18:36:46.5345 LVL= 25744, 20289, 19842, 22979, AGC= 48, IDX= 439,-0.04,-2.720, 3.119, 2.655,-1.608, PHS=-1.010,-1.511,-2.063, RAW=  58.4,  60.6, CAL=  56.1,  64.1, ROT=  93.9, -64.1

2025-09-04T18:36:48.500Z,1757011008.500 [DAT](INFO): DAT read: Bearing 301.5,  26.9 (Local)

2025-09-04T18:36:48.501Z,1757011008.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.5,  26.9 (Local)

2025-09-04T18:36:48.502Z,1757011008.502 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-09-04T18:36:48.503Z,1757011008.503 [DAT](INFO): DAT read: user:2911>

2025-09-04T18:36:48.505Z,1757011008.505 [DAT](INFO): DAT read: Tx time:18:36:47.6278

2025-09-04T18:36:48.505Z,1757011008.505 [DAT](INFO): Ping request sent.
2025-09-04T18:36:48.505Z,1757011008.505 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:48.506Z,1757011008.506 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-09-04T18:36:48.507Z,1757011008.507 [DAT](INFO): direction in FSK: [-0.029709,0.435790,0.899558]
2025-09-04T18:36:48.507Z,1757011008.507 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:48.507Z,1757011008.507 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:48.511Z,1757011008.511 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:48.511Z,1757011008.511 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:48.515Z,1757011008.515 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.009116
2025-09-04T18:36:48.741Z,1757011008.741 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.235568
2025-09-04T18:36:48.993Z,1757011008.993 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.487775
2025-09-04T18:36:49.245Z,1757011009.245 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.739595
2025-09-04T18:36:49.497Z,1757011009.497 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.991740
2025-09-04T18:36:49.749Z,1757011009.749 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.243577
2025-09-04T18:36:50.001Z,1757011010.001 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.495753
2025-09-04T18:36:50.253Z,1757011010.253 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.747885
2025-09-04T18:36:50.505Z,1757011010.505 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.000032
2025-09-04T18:36:50.758Z,1757011010.758 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.252357
2025-09-04T18:36:51.009Z,1757011011.009 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.503544
2025-09-04T18:36:51.261Z,1757011011.261 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.755858
2025-09-04T18:36:51.513Z,1757011011.513 [DAT](INFO): DAT read: Rx Time:18:36:50.0345

2025-09-04T18:36:51.514Z,1757011011.514 [DAT](INFO): Rx dataTimestamp_ set to:1757011011.513367
2025-09-04T18:36:51.514Z,1757011011.514 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.008807
2025-09-04T18:36:51.765Z,1757011011.765 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.259593
2025-09-04T18:36:52.027Z,1757011012.027 [DAT](INFO): DAT read: 18:36:50.0345 LVL= 29168, 20209, 23074, 25219, AGC= 50, IDX= 440, 0.01,-1.810,-1.571,-2.589,-0.382, PHS=-1.326,-1.144,-2.251, RAW=  21.2,  58.4, CAL=  20.2,  61.9, ROT= 129.8, -61.9

2025-09-04T18:36:52.028Z,1757011012.028 [DAT](INFO): got valid direction response:
 18:36:50.0345 LVL= 29168, 20209, 23074, 25219, AGC= 50, IDX= 440, 0.01,-1.810,-1.571,-2.589,-0.382, PHS=-1.326,-1.144,-2.251, RAW=  21.2,  58.4, CAL=  20.2,  61.9, ROT= 129.8, -61.9

2025-09-04T18:36:52.029Z,1757011012.029 [DAT](INFO): DAT read: Bearing 316.4,  25.9 (Local)

2025-09-04T18:36:52.029Z,1757011012.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4,  25.9 (Local)

2025-09-04T18:36:52.031Z,1757011012.031 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-09-04T18:36:52.031Z,1757011012.031 [DAT](INFO): DAT read: user:2912>

2025-09-04T18:36:52.068Z,1757011012.068 [DAT](INFO): DAT read: Tx time:18:36:51.1277

2025-09-04T18:36:52.069Z,1757011012.069 [DAT](INFO): Ping request sent.
2025-09-04T18:36:52.069Z,1757011012.069 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:52.069Z,1757011012.069 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-09-04T18:36:52.070Z,1757011012.070 [DAT](INFO): direction in FSK: [-0.301499,0.361871,0.882127]
2025-09-04T18:36:52.070Z,1757011012.070 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:52.071Z,1757011012.071 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:52.080Z,1757011012.080 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:52.085Z,1757011012.085 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:52.098Z,1757011012.098 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.029014
2025-09-04T18:36:52.269Z,1757011012.269 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.200152
2025-09-04T18:36:52.525Z,1757011012.525 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.455563
2025-09-04T18:36:52.773Z,1757011012.773 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.704079
2025-09-04T18:36:53.025Z,1757011013.025 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.956150
2025-09-04T18:36:53.277Z,1757011013.277 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.208097
2025-09-04T18:36:53.530Z,1757011013.530 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.460623
2025-09-04T18:36:53.781Z,1757011013.781 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.712182
2025-09-04T18:36:54.034Z,1757011014.034 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.964630
2025-09-04T18:36:54.285Z,1757011014.285 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.216174
2025-09-04T18:36:54.540Z,1757011014.540 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.470315
2025-09-04T18:36:54.789Z,1757011014.789 [DAT](INFO): DAT read: Rx Time:18:36:53.5343

2025-09-04T18:36:54.790Z,1757011014.790 [DAT](INFO): Rx dataTimestamp_ set to:1757011014.789270
2025-09-04T18:36:54.790Z,1757011014.790 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.721216
2025-09-04T18:36:55.041Z,1757011015.041 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.972079
2025-09-04T18:36:55.302Z,1757011015.302 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-09-04T18:36:55.302Z,1757011015.302 [DAT](INFO): DAT read: user:2913>

2025-09-04T18:36:55.303Z,1757011015.303 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-09-04T18:36:55.304Z,1757011015.304 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=3.234768
2025-09-04T18:36:55.555Z,1757011015.555 [DAT](INFO): DAT read: Tx time:18:36:54.6277

2025-09-04T18:36:55.557Z,1757011015.556 [DAT](INFO): Ping request sent.
2025-09-04T18:36:55.557Z,1757011015.557 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:55.557Z,1757011015.557 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:55.558Z,1757011015.558 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.001928
2025-09-04T18:36:55.805Z,1757011015.805 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.248651
2025-09-04T18:36:56.057Z,1757011016.057 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.500559
2025-09-04T18:36:56.309Z,1757011016.309 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.752515
2025-09-04T18:36:56.563Z,1757011016.563 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.006674
2025-09-04T18:36:56.813Z,1757011016.813 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.256678
2025-09-04T18:36:57.065Z,1757011017.065 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.508508
2025-09-04T18:36:57.317Z,1757011017.317 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.760767
2025-09-04T18:36:57.579Z,1757011017.579 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.021612
2025-09-04T18:36:57.833Z,1757011017.833 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.276573
2025-09-04T18:36:58.086Z,1757011018.086 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.529384
2025-09-04T18:36:58.337Z,1757011018.337 [DAT](INFO): DAT read: Rx Time:18:36:57.0342

2025-09-04T18:36:58.337Z,1757011018.337 [DAT](INFO): Rx dataTimestamp_ set to:1757011018.337213
2025-09-04T18:36:58.338Z,1757011018.338 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.781588
2025-09-04T18:36:58.593Z,1757011018.593 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=3.035439
2025-09-04T18:36:58.857Z,1757011018.857 [DAT](INFO): DAT read: 18:36:57.0342 LVL= 18976, 19697, 20898, 24643, AGC= 47, IDX= 438,-0.36, 2.766, 2.397, 1.944,-2.611, PHS=-0.805,-1.230,-1.772, RAW=  56.0,  58.0, CAL=  53.7,  61.7, ROT=  96.3, -61.7

2025-09-04T18:36:58.858Z,1757011018.858 [DAT](INFO): got valid direction response:
 18:36:57.0342 LVL= 18976, 19697, 20898, 24643, AGC= 47, IDX= 438,-0.36, 2.766, 2.397, 1.944,-2.611, PHS=-0.805,-1.230,-1.772, RAW=  56.0,  58.0, CAL=  53.7,  61.7, ROT=  96.3, -61.7

2025-09-04T18:36:58.859Z,1757011018.859 [DAT](INFO): DAT read: Bearing 300.0,  33.7 (Local)

2025-09-04T18:36:58.860Z,1757011018.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.0,  33.7 (Local)

2025-09-04T18:36:58.861Z,1757011018.861 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-09-04T18:36:58.862Z,1757011018.862 [DAT](INFO): DAT read: user:2914>

2025-09-04T18:36:58.862Z,1757011018.862 [DAT](INFO): DAT read: Tx time:18:36:58.1277

2025-09-04T18:36:58.863Z,1757011018.863 [DAT](INFO): Ping request sent.
2025-09-04T18:36:58.863Z,1757011018.863 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:36:58.863Z,1757011018.863 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-09-04T18:36:58.880Z,1757011018.880 [DAT](INFO): direction in FSK: [-0.052024,0.471225,0.880477]
2025-09-04T18:36:58.881Z,1757011018.881 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:58.881Z,1757011018.881 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:58.892Z,1757011018.892 [DAT](INFO): publishing transmit ping time
2025-09-04T18:36:58.892Z,1757011018.892 [DAT](INFO): publishing direction and range info
2025-09-04T18:36:58.896Z,1757011018.896 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.032715
2025-09-04T18:36:59.094Z,1757011019.094 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.231168
2025-09-04T18:36:59.345Z,1757011019.345 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.482235
2025-09-04T18:36:59.601Z,1757011019.601 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.737540
2025-09-04T18:36:59.849Z,1757011019.849 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.986522
2025-09-04T18:37:00.101Z,1757011020.101 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.238088
2025-09-04T18:37:00.353Z,1757011020.353 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.490098
2025-09-04T18:37:00.607Z,1757011020.607 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.744065
2025-09-04T18:37:00.857Z,1757011020.857 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.994153
2025-09-04T18:37:01.109Z,1757011021.109 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.246125
2025-09-04T18:37:01.361Z,1757011021.361 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.498090
2025-09-04T18:37:01.618Z,1757011021.618 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.754239
2025-09-04T18:37:01.869Z,1757011021.869 [DAT](INFO): DAT read: Rx Time:18:37:00.5341

2025-09-04T18:37:01.869Z,1757011021.869 [DAT](INFO): Rx dataTimestamp_ set to:1757011021.869197
2025-09-04T18:37:01.870Z,1757011021.870 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=3.007142
2025-09-04T18:37:02.128Z,1757011022.128 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=3.264723
2025-09-04T18:37:02.390Z,1757011022.390 [DAT](INFO): DAT read: 18:37:00.5341 LVL= 22848, 32753, 31922, 32755, AGC= 51, IDX= 436, 0.45, 2.556,-2.314, 2.597,-2.494, PHS=-1.131, 0.225,-1.237, RAW= 333.7,  28.2, CAL= 333.1,  33.3, ROT= 176.9, -33.3

2025-09-04T18:37:02.392Z,1757011022.392 [DAT](INFO): got valid direction response:
 18:37:00.5341 LVL= 22848, 32753, 31922, 32755, AGC= 51, IDX= 436, 0.45, 2.556,-2.314, 2.597,-2.494, PHS=-1.131, 0.225,-1.237, RAW= 333.7,  28.2, CAL= 333.1,  33.3, ROT= 176.9, -33.3

2025-09-04T18:37:02.400Z,1757011022.400 [DAT](INFO): DAT read: Bearing   1.5,   4.7 (Local)

2025-09-04T18:37:02.400Z,1757011022.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,   4.7 (Local)

2025-09-04T18:37:02.402Z,1757011022.402 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-09-04T18:37:02.402Z,1757011022.402 [DAT](INFO): DAT read: user:2915>

2025-09-04T18:37:02.403Z,1757011022.403 [DAT](INFO): DAT read: Tx time:18:37:01.6277

2025-09-04T18:37:02.403Z,1757011022.403 [DAT](INFO): Ping request sent.
2025-09-04T18:37:02.403Z,1757011022.403 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:02.404Z,1757011022.404 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-09-04T18:37:02.409Z,1757011022.409 [DAT](INFO): direction in FSK: [-0.834584,0.045199,0.549023]
2025-09-04T18:37:02.409Z,1757011022.409 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:02.409Z,1757011022.409 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:02.417Z,1757011022.417 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:02.418Z,1757011022.418 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:02.449Z,1757011022.449 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.045729
2025-09-04T18:37:02.640Z,1757011022.640 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.236311
2025-09-04T18:37:02.889Z,1757011022.889 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.485740
2025-09-04T18:37:03.141Z,1757011023.141 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.737547
2025-09-04T18:37:03.393Z,1757011023.393 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.989840
2025-09-04T18:37:03.648Z,1757011023.648 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.243850
2025-09-04T18:37:03.897Z,1757011023.897 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.493530
2025-09-04T18:37:04.149Z,1757011024.149 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.745637
2025-09-04T18:37:04.401Z,1757011024.401 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.997675
2025-09-04T18:37:04.656Z,1757011024.656 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.251801
2025-09-04T18:37:04.905Z,1757011024.905 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.501670
2025-09-04T18:37:05.157Z,1757011025.157 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.753617
2025-09-04T18:37:05.409Z,1757011025.409 [DAT](INFO): DAT read: Rx Time:18:37:04.0341

2025-09-04T18:37:05.409Z,1757011025.409 [DAT](INFO): Rx dataTimestamp_ set to:1757011025.409197
2025-09-04T18:37:05.410Z,1757011025.410 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.006616
2025-09-04T18:37:05.664Z,1757011025.664 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.259797
2025-09-04T18:37:05.914Z,1757011025.914 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-09-04T18:37:05.915Z,1757011025.915 [DAT](INFO): DAT read: user:2916>

2025-09-04T18:37:05.915Z,1757011025.915 [DAT](INFO): DAT read: Tx time:18:37:05.1276

2025-09-04T18:37:05.916Z,1757011025.916 [DAT](INFO): Ping request sent.
2025-09-04T18:37:05.916Z,1757011025.916 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:05.916Z,1757011025.916 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-09-04T18:37:05.916Z,1757011025.916 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:05.917Z,1757011025.917 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:05.918Z,1757011025.918 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.001942
2025-09-04T18:37:06.165Z,1757011026.165 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.249227
2025-09-04T18:37:06.421Z,1757011026.421 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.505418
2025-09-04T18:37:06.676Z,1757011026.676 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.759893
2025-09-04T18:37:06.926Z,1757011026.926 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.009707
2025-09-04T18:37:07.178Z,1757011027.178 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.261837
2025-09-04T18:37:07.429Z,1757011027.429 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.513240
2025-09-04T18:37:07.684Z,1757011027.684 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.767787
2025-09-04T18:37:07.933Z,1757011027.933 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.017184
2025-09-04T18:37:08.186Z,1757011028.186 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.269963
2025-09-04T18:37:08.443Z,1757011028.443 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.526710
2025-09-04T18:37:08.693Z,1757011028.693 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.777247
2025-09-04T18:37:08.945Z,1757011028.945 [DAT](INFO): DAT read: Rx Time:18:37:07.5334

2025-09-04T18:37:08.946Z,1757011028.946 [DAT](INFO): Rx dataTimestamp_ set to:1757011028.945385
2025-09-04T18:37:08.946Z,1757011028.946 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.030478
2025-09-04T18:37:09.197Z,1757011029.197 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.281116
2025-09-04T18:37:09.450Z,1757011029.450 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-09-04T18:37:09.451Z,1757011029.451 [DAT](INFO): DAT read: user:2917>

2025-09-04T18:37:09.451Z,1757011029.451 [DAT](INFO): DAT read: Tx time:18:37:08.6276

2025-09-04T18:37:09.452Z,1757011029.452 [DAT](INFO): Ping request sent.
2025-09-04T18:37:09.452Z,1757011029.452 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:09.452Z,1757011029.452 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-09-04T18:37:09.452Z,1757011029.452 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:09.453Z,1757011029.453 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:09.454Z,1757011029.454 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.001995
2025-09-04T18:37:09.703Z,1757011029.703 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.250504
2025-09-04T18:37:09.953Z,1757011029.953 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.501188
2025-09-04T18:37:10.206Z,1757011030.206 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.753583
2025-09-04T18:37:10.465Z,1757011030.465 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.013504
2025-09-04T18:37:10.709Z,1757011030.709 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.257200
2025-09-04T18:37:10.964Z,1757011030.964 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.511807
2025-09-04T18:37:11.213Z,1757011031.213 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.761259
2025-09-04T18:37:11.465Z,1757011031.465 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.013263
2025-09-04T18:37:11.720Z,1757011031.720 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.267476
2025-09-04T18:37:11.969Z,1757011031.969 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.517133
2025-09-04T18:37:12.221Z,1757011032.221 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.769263
2025-09-04T18:37:12.474Z,1757011032.474 [DAT](INFO): DAT read: Rx Time:18:37:11.0333

2025-09-04T18:37:12.474Z,1757011032.474 [DAT](INFO): Rx dataTimestamp_ set to:1757011032.473866
2025-09-04T18:37:12.475Z,1757011032.475 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=3.023231
2025-09-04T18:37:12.725Z,1757011032.725 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=3.273517
2025-09-04T18:37:12.983Z,1757011032.983 [DAT](INFO): DAT read: 18:37:11.0333 LVL= 17568, 32753, 18082, 32595, AGC= 32, IDX= 445,-0.35,-0.715,-2.601,-1.016,-0.933, PHS= 0.320,-1.623,-0.127, RAW= 137.3,  16.0, CAL= 136.3,  17.1, ROT=  13.7, -17.1

2025-09-04T18:37:12.984Z,1757011032.984 [DAT](INFO): got valid direction response:
 18:37:11.0333 LVL= 17568, 32753, 18082, 32595, AGC= 32, IDX= 445,-0.35,-0.715,-2.601,-1.016,-0.933, PHS= 0.320,-1.623,-0.127, RAW= 137.3,  16.0, CAL= 136.3,  17.1, ROT=  13.7, -17.1

2025-09-04T18:37:12.985Z,1757011032.985 [DAT](INFO): DAT read: Bearing 230.9,  21.9 (Local)

2025-09-04T18:37:12.985Z,1757011032.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.9,  21.9 (Local)

2025-09-04T18:37:12.987Z,1757011032.987 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-09-04T18:37:12.987Z,1757011032.987 [DAT](INFO): DAT read: user:2918>

2025-09-04T18:37:12.988Z,1757011032.988 [DAT](INFO): DAT read: Tx time:18:37:12.1276

2025-09-04T18:37:12.988Z,1757011032.988 [DAT](INFO): Ping request sent.
2025-09-04T18:37:12.988Z,1757011032.988 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:12.989Z,1757011032.989 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-09-04T18:37:12.990Z,1757011032.990 [DAT](INFO): direction in FSK: [0.928600,0.226368,0.294040]
2025-09-04T18:37:12.990Z,1757011032.990 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:12.990Z,1757011032.990 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:12.993Z,1757011032.993 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:12.993Z,1757011032.993 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:12.997Z,1757011032.997 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.008407
2025-09-04T18:37:13.229Z,1757011033.229 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.240481
2025-09-04T18:37:13.482Z,1757011033.482 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.493157
2025-09-04T18:37:13.733Z,1757011033.733 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.744708
2025-09-04T18:37:13.985Z,1757011033.985 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.996440
2025-09-04T18:37:14.237Z,1757011034.237 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.248878
2025-09-04T18:37:14.490Z,1757011034.490 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.501109
2025-09-04T18:37:14.580Z,1757011034.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:37:14.741Z,1757011034.741 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.752930
2025-09-04T18:37:14.993Z,1757011034.993 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.004577
2025-09-04T18:37:15.249Z,1757011035.249 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.260153
2025-09-04T18:37:15.498Z,1757011035.498 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.508879
2025-09-04T18:37:15.749Z,1757011035.749 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.760742
2025-09-04T18:37:16.001Z,1757011036.001 [DAT](INFO): DAT read: Rx Time:18:37:14.5333

2025-09-04T18:37:16.002Z,1757011036.002 [DAT](INFO): Rx dataTimestamp_ set to:1757011036.001240
2025-09-04T18:37:16.002Z,1757011036.002 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=3.013585
2025-09-04T18:37:16.254Z,1757011036.254 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=3.264771
2025-09-04T18:37:16.511Z,1757011036.511 [DAT](INFO): DAT read: 18:37:14.5333 LVL= 19280, 28385, 23410, 32755, AGC= 29, IDX= 445,-0.06,-1.980, 2.201,-2.543,-2.382, PHS= 0.504,-1.655,-0.205, RAW= 131.2,  14.1, CAL= 130.4,  15.2, ROT=  19.6, -15.2

2025-09-04T18:37:16.513Z,1757011036.513 [DAT](INFO): got valid direction response:
 18:37:14.5333 LVL= 19280, 28385, 23410, 32755, AGC= 29, IDX= 445,-0.06,-1.980, 2.201,-2.543,-2.382, PHS= 0.504,-1.655,-0.205, RAW= 131.2,  14.1, CAL= 130.4,  15.2, ROT=  19.6, -15.2

2025-09-04T18:37:16.513Z,1757011036.513 [DAT](INFO): DAT read: Bearing 228.4,  25.1 (Local)

2025-09-04T18:37:16.514Z,1757011036.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.4,  25.1 (Local)

2025-09-04T18:37:16.515Z,1757011036.515 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-09-04T18:37:16.516Z,1757011036.516 [DAT](INFO): DAT read: user:2919>

2025-09-04T18:37:16.517Z,1757011036.517 [DAT](INFO): DAT read: Tx time:18:37:15.6276

2025-09-04T18:37:16.517Z,1757011036.517 [DAT](INFO): Ping request sent.
2025-09-04T18:37:16.517Z,1757011036.517 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:16.517Z,1757011036.517 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-09-04T18:37:16.518Z,1757011036.518 [DAT](INFO): direction in FSK: [0.909101,0.323716,0.262189]
2025-09-04T18:37:16.519Z,1757011036.519 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:16.519Z,1757011036.519 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:16.526Z,1757011036.526 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:16.526Z,1757011036.526 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:16.529Z,1757011036.529 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.012391
2025-09-04T18:37:16.757Z,1757011036.757 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.240064
2025-09-04T18:37:17.009Z,1757011037.009 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.492053
2025-09-04T18:37:17.261Z,1757011037.261 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.744159
2025-09-04T18:37:17.513Z,1757011037.513 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.995890
2025-09-04T18:37:17.765Z,1757011037.765 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.247981
2025-09-04T18:37:18.017Z,1757011038.017 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.500058
2025-09-04T18:37:18.269Z,1757011038.269 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.751921
2025-09-04T18:37:18.521Z,1757011038.521 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.003879
2025-09-04T18:37:18.773Z,1757011038.773 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.255851
2025-09-04T18:37:19.035Z,1757011039.035 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.517736
2025-09-04T18:37:19.285Z,1757011039.285 [DAT](INFO): DAT read: Rx Time:18:37:18.0333

2025-09-04T18:37:19.285Z,1757011039.285 [DAT](INFO): Rx dataTimestamp_ set to:1757011039.285160
2025-09-04T18:37:19.286Z,1757011039.286 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.768907
2025-09-04T18:37:19.538Z,1757011039.538 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=3.021074
2025-09-04T18:37:19.793Z,1757011039.793 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=3.274429
2025-09-04T18:37:20.062Z,1757011040.062 [DAT](INFO): DAT read: 18:37:18.0333 LVL= 17472, 31633, 20290, 32755, AGC= 30, IDX= 445, 0.14,-2.288, 1.982,-2.519,-2.666, PHS= 0.480,-1.590, 0.103, RAW= 140.1,  10.6, CAL= 139.6,  11.5, ROT=  10.4, -11.5

2025-09-04T18:37:20.063Z,1757011040.063 [DAT](INFO): got valid direction response:
 18:37:18.0333 LVL= 17472, 31633, 20290, 32755, AGC= 30, IDX= 445, 0.14,-2.288, 1.982,-2.519,-2.666, PHS= 0.480,-1.590, 0.103, RAW= 140.1,  10.6, CAL= 139.6,  11.5, ROT=  10.4, -11.5

2025-09-04T18:37:20.064Z,1757011040.064 [DAT](INFO): DAT read: Bearing 223.6,  11.9 (Local)

2025-09-04T18:37:20.064Z,1757011040.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.6,  11.9 (Local)

2025-09-04T18:37:20.066Z,1757011040.066 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-09-04T18:37:20.066Z,1757011040.066 [DAT](INFO): DAT read: user:2920>

2025-09-04T18:37:20.067Z,1757011040.067 [DAT](INFO): DAT read: Tx time:18:37:19.1275

2025-09-04T18:37:20.067Z,1757011040.067 [DAT](INFO): Ping request sent.
2025-09-04T18:37:20.068Z,1757011040.068 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:20.072Z,1757011040.072 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-09-04T18:37:20.073Z,1757011040.073 [DAT](INFO): direction in FSK: [0.963826,0.176895,0.199368]
2025-09-04T18:37:20.073Z,1757011040.073 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:20.074Z,1757011040.074 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:20.089Z,1757011040.089 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:20.089Z,1757011040.089 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:20.101Z,1757011040.101 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.032990
2025-09-04T18:37:20.293Z,1757011040.293 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.225766
2025-09-04T18:37:20.546Z,1757011040.546 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.478741
2025-09-04T18:37:20.797Z,1757011040.797 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.729336
2025-09-04T18:37:21.051Z,1757011041.051 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.982964
2025-09-04T18:37:21.301Z,1757011041.301 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.233462
2025-09-04T18:37:21.554Z,1757011041.554 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.486202
2025-09-04T18:37:21.805Z,1757011041.805 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.737759
2025-09-04T18:37:22.057Z,1757011042.057 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.989508
2025-09-04T18:37:22.309Z,1757011042.309 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.241392
2025-09-04T18:37:22.561Z,1757011042.561 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.493648
2025-09-04T18:37:22.813Z,1757011042.813 [DAT](INFO): DAT read: Rx Time:18:37:21.5333

2025-09-04T18:37:22.814Z,1757011042.814 [DAT](INFO): Rx dataTimestamp_ set to:1757011042.813243
2025-09-04T18:37:22.814Z,1757011042.814 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.746474
2025-09-04T18:37:23.065Z,1757011043.065 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.997458
2025-09-04T18:37:23.320Z,1757011043.320 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.251888
2025-09-04T18:37:23.576Z,1757011043.576 [DAT](INFO): DAT read: 18:37:21.5333 LVL= 21696, 28657, 23330, 32755, AGC= 31, IDX= 446, 0.38, 2.884, 0.925, 2.662, 2.521, PHS= 0.465,-1.550, 0.097, RAW= 140.1,  10.6, CAL= 139.6,  11.6, ROT=  10.4, -11.6

2025-09-04T18:37:23.577Z,1757011043.577 [DAT](INFO): got valid direction response:
 18:37:21.5333 LVL= 21696, 28657, 23330, 32755, AGC= 31, IDX= 446, 0.38, 2.884, 0.925, 2.662, 2.521, PHS= 0.465,-1.550, 0.097, RAW= 140.1,  10.6, CAL= 139.6,  11.6, ROT=  10.4, -11.6

2025-09-04T18:37:23.578Z,1757011043.578 [DAT](INFO): DAT read: Bearing 224.0,   7.4 (Local)

2025-09-04T18:37:23.578Z,1757011043.578 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.0,   7.4 (Local)

2025-09-04T18:37:23.580Z,1757011043.580 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-09-04T18:37:23.581Z,1757011043.581 [DAT](INFO): DAT read: user:2921>

2025-09-04T18:37:23.581Z,1757011043.581 [DAT](INFO): DAT read: Tx time:18:37:22.6275

2025-09-04T18:37:23.582Z,1757011043.582 [DAT](INFO): Ping request sent.
2025-09-04T18:37:23.582Z,1757011043.582 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:23.582Z,1757011043.582 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-09-04T18:37:23.583Z,1757011043.583 [DAT](INFO): direction in FSK: [0.963482,0.176832,0.201078]
2025-09-04T18:37:23.583Z,1757011043.583 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:23.583Z,1757011043.583 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:23.586Z,1757011043.586 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:23.587Z,1757011043.587 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:23.606Z,1757011043.606 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.024377
2025-09-04T18:37:23.821Z,1757011043.821 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.239172
2025-09-04T18:37:24.073Z,1757011044.073 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.491557
2025-09-04T18:37:24.325Z,1757011044.325 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.743577
2025-09-04T18:37:24.577Z,1757011044.577 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.995401
2025-09-04T18:37:24.829Z,1757011044.829 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.247323
2025-09-04T18:37:25.081Z,1757011045.081 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.499474
2025-09-04T18:37:25.333Z,1757011045.333 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.751294
2025-09-04T18:37:25.589Z,1757011045.589 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.007310
2025-09-04T18:37:25.841Z,1757011045.841 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.259525
2025-09-04T18:37:26.093Z,1757011046.093 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.511315
2025-09-04T18:37:26.346Z,1757011046.346 [DAT](INFO): DAT read: Rx Time:18:37:25.0336

2025-09-04T18:37:26.347Z,1757011046.347 [DAT](INFO): Rx dataTimestamp_ set to:1757011046.346139
2025-09-04T18:37:26.347Z,1757011046.347 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.765626
2025-09-04T18:37:26.597Z,1757011046.597 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=3.015617
2025-09-04T18:37:26.855Z,1757011046.855 [DAT](INFO): DAT read: 18:37:25.0336 LVL= 23488, 32753, 29058, 32755, AGC= 33, IDX= 449, 0.22,-2.298, 2.067,-2.520,-2.676, PHS= 0.480,-1.495, 0.113, RAW= 139.9,   9.9, CAL= 139.4,  10.9, ROT=  10.6, -10.9

2025-09-04T18:37:26.860Z,1757011046.860 [DAT](INFO): got valid direction response:
 18:37:25.0336 LVL= 23488, 32753, 29058, 32755, AGC= 33, IDX= 449, 0.22,-2.298, 2.067,-2.520,-2.676, PHS= 0.480,-1.495, 0.113, RAW= 139.9,   9.9, CAL= 139.4,  10.9, ROT=  10.6, -10.9

2025-09-04T18:37:26.862Z,1757011046.862 [DAT](INFO): DAT read: Bearing 224.4,   4.8 (Local)

2025-09-04T18:37:26.862Z,1757011046.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.4,   4.8 (Local)

2025-09-04T18:37:26.863Z,1757011046.863 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m  (Round-trip  2.0 ms) speed -0.1 m/s

2025-09-04T18:37:26.864Z,1757011046.864 [DAT](INFO): DAT read: user:2922>

2025-09-04T18:37:26.865Z,1757011046.865 [DAT](INFO): DAT read: Tx time:18:37:26.1275

2025-09-04T18:37:26.865Z,1757011046.865 [DAT](INFO): Ping request sent.
2025-09-04T18:37:26.865Z,1757011046.865 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:26.866Z,1757011046.866 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-09-04T18:37:26.867Z,1757011046.867 [DAT](INFO): direction in FSK: [0.965202,0.180633,0.189095]
2025-09-04T18:37:26.867Z,1757011046.867 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:26.867Z,1757011046.867 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:26.870Z,1757011046.870 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:26.871Z,1757011046.871 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:26.874Z,1757011046.874 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.008512
2025-09-04T18:37:27.101Z,1757011047.101 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.235694
2025-09-04T18:37:27.353Z,1757011047.353 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.487653
2025-09-04T18:37:27.605Z,1757011047.605 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.739981
2025-09-04T18:37:27.857Z,1757011047.857 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.991687
2025-09-04T18:37:28.109Z,1757011048.109 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.243676
2025-09-04T18:37:28.361Z,1757011048.361 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.495677
2025-09-04T18:37:28.614Z,1757011048.614 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.748118
2025-09-04T18:37:28.865Z,1757011048.865 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.999728
2025-09-04T18:37:29.117Z,1757011049.117 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.251491
2025-09-04T18:37:29.369Z,1757011049.369 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.503922
2025-09-04T18:37:29.621Z,1757011049.621 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.755696
2025-09-04T18:37:29.873Z,1757011049.873 [DAT](INFO): DAT read: Rx Time:18:37:28.5340

2025-09-04T18:37:29.873Z,1757011049.873 [DAT](INFO): Rx dataTimestamp_ set to:1757011049.873142
2025-09-04T18:37:29.874Z,1757011049.874 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.008598
2025-09-04T18:37:30.125Z,1757011050.125 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.259643
2025-09-04T18:37:30.383Z,1757011050.383 [DAT](INFO): DAT read: 18:37:28.5340 LVL= 20976, 26385, 24530, 27171, AGC= 31, IDX= 437, 0.02,-0.070,-1.882,-0.126,-0.498, PHS= 0.530,-1.338, 0.329, RAW= 144.4,   5.5, CAL= 143.9,   6.0, ROT=   6.1,  -6.0

2025-09-04T18:37:30.384Z,1757011050.384 [DAT](INFO): got valid direction response:
 18:37:28.5340 LVL= 20976, 26385, 24530, 27171, AGC= 31, IDX= 437, 0.02,-0.070,-1.882,-0.126,-0.498, PHS= 0.530,-1.338, 0.329, RAW= 144.4,   5.5, CAL= 143.9,   6.0, ROT=   6.1,  -6.0

2025-09-04T18:37:30.385Z,1757011050.385 [DAT](INFO): DAT read: Bearing 221.3,   0.7 (Local)

2025-09-04T18:37:30.385Z,1757011050.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.3,   0.7 (Local)

2025-09-04T18:37:30.387Z,1757011050.387 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-09-04T18:37:30.387Z,1757011050.387 [DAT](INFO): DAT read: user:2923>

2025-09-04T18:37:30.388Z,1757011050.388 [DAT](INFO): DAT read: Tx time:18:37:29.6275

2025-09-04T18:37:30.388Z,1757011050.388 [DAT](INFO): Ping request sent.
2025-09-04T18:37:30.389Z,1757011050.389 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:30.389Z,1757011050.389 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-09-04T18:37:30.390Z,1757011050.390 [DAT](INFO): direction in FSK: [0.988891,0.105682,0.104528]
2025-09-04T18:37:30.390Z,1757011050.390 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:30.390Z,1757011050.390 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:30.422Z,1757011050.422 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:30.422Z,1757011050.422 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:30.427Z,1757011050.427 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.038318
2025-09-04T18:37:30.629Z,1757011050.629 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.240408
2025-09-04T18:37:30.881Z,1757011050.881 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.492516
2025-09-04T18:37:31.133Z,1757011051.133 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.744519
2025-09-04T18:37:31.385Z,1757011051.385 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.996372
2025-09-04T18:37:31.637Z,1757011051.637 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.248854
2025-09-04T18:37:31.889Z,1757011051.889 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.500445
2025-09-04T18:37:32.141Z,1757011052.141 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.752386
2025-09-04T18:37:32.394Z,1757011052.394 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.005588
2025-09-04T18:37:32.645Z,1757011052.645 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.256454
2025-09-04T18:37:32.897Z,1757011052.897 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.508366
2025-09-04T18:37:33.149Z,1757011053.149 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.760494
2025-09-04T18:37:33.401Z,1757011053.401 [DAT](INFO): DAT read: Rx Time:18:37:32.0343

2025-09-04T18:37:33.402Z,1757011053.402 [DAT](INFO): Rx dataTimestamp_ set to:1757011053.401239
2025-09-04T18:37:33.402Z,1757011053.402 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.013465
2025-09-04T18:37:33.653Z,1757011053.653 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.264447
2025-09-04T18:37:33.911Z,1757011053.911 [DAT](INFO): DAT read: 18:37:32.0343 LVL= 21856, 24609, 22994, 27075, AGC= 33, IDX= 440,-0.11,-0.649,-2.238,-0.531,-1.201, PHS= 0.654,-0.993, 0.626, RAW= 149.2,  -3.6, CAL= 148.7,  -4.5, ROT=   1.3,   4.5

2025-09-04T18:37:33.912Z,1757011053.912 [DAT](INFO): got valid direction response:
 18:37:32.0343 LVL= 21856, 24609, 22994, 27075, AGC= 33, IDX= 440,-0.11,-0.649,-2.238,-0.531,-1.201, PHS= 0.654,-0.993, 0.626, RAW= 149.2,  -3.6, CAL= 148.7,  -4.5, ROT=   1.3,   4.5

2025-09-04T18:37:33.913Z,1757011053.913 [DAT](INFO): DAT read: Bearing 213.2,  -2.0 (Local)

2025-09-04T18:37:33.914Z,1757011053.914 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.2,  -2.0 (Local)

2025-09-04T18:37:33.915Z,1757011053.915 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed -0.1 m/s

2025-09-04T18:37:33.916Z,1757011053.916 [DAT](INFO): DAT read: user:2924>

2025-09-04T18:37:33.917Z,1757011053.917 [DAT](INFO): DAT read: Tx time:18:37:33.1275

2025-09-04T18:37:33.917Z,1757011053.917 [DAT](INFO): Ping request sent.
2025-09-04T18:37:33.917Z,1757011053.917 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:33.918Z,1757011053.918 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-09-04T18:37:33.919Z,1757011053.919 [DAT](INFO): direction in FSK: [0.996661,0.022617,-0.078459]
2025-09-04T18:37:33.919Z,1757011053.919 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:33.919Z,1757011053.919 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:33.943Z,1757011053.943 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:33.943Z,1757011053.943 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:33.947Z,1757011053.947 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.029247
2025-09-04T18:37:34.157Z,1757011054.157 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.239696
2025-09-04T18:37:34.409Z,1757011054.409 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.491621
2025-09-04T18:37:34.661Z,1757011054.661 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.743862
2025-09-04T18:37:34.913Z,1757011054.913 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.995619
2025-09-04T18:37:35.165Z,1757011055.165 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.247670
2025-09-04T18:37:35.417Z,1757011055.417 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.499739
2025-09-04T18:37:35.670Z,1757011055.670 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.753065
2025-09-04T18:37:35.921Z,1757011055.921 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.003545
2025-09-04T18:37:36.173Z,1757011056.173 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.255645
2025-09-04T18:37:36.426Z,1757011056.426 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.507855
2025-09-04T18:37:36.677Z,1757011056.677 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.759566
2025-09-04T18:37:36.930Z,1757011056.930 [DAT](INFO): DAT read: Rx Time:18:37:35.5346

2025-09-04T18:37:36.931Z,1757011056.931 [DAT](INFO): Rx dataTimestamp_ set to:1757011056.930429
2025-09-04T18:37:36.931Z,1757011056.931 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.013849
2025-09-04T18:37:37.183Z,1757011057.183 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.265526
2025-09-04T18:37:37.439Z,1757011057.439 [DAT](INFO): DAT read: 18:37:35.5346 LVL= 23008, 29649, 24114, 31555, AGC= 38, IDX= 428, 0.09,-2.784, 2.090,-2.511, 2.789, PHS= 0.813,-0.654, 0.940, RAW= 154.1, -14.2, CAL= 155.7, -16.0, ROT= 354.3,  16.0

2025-09-04T18:37:37.440Z,1757011057.440 [DAT](INFO): got valid direction response:
 18:37:35.5346 LVL= 23008, 29649, 24114, 31555, AGC= 38, IDX= 428, 0.09,-2.784, 2.090,-2.511, 2.789, PHS= 0.813,-0.654, 0.940, RAW= 154.1, -14.2, CAL= 155.7, -16.0, ROT= 354.3,  16.0

2025-09-04T18:37:37.441Z,1757011057.441 [DAT](INFO): DAT read: Bearing 204.7,  -5.2 (Local)

2025-09-04T18:37:37.441Z,1757011057.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.7,  -5.2 (Local)

2025-09-04T18:37:37.442Z,1757011057.442 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m  (Round-trip  3.1 ms) speed -0.1 m/s

2025-09-04T18:37:37.443Z,1757011057.443 [DAT](INFO): DAT read: user:2925>

2025-09-04T18:37:37.444Z,1757011057.444 [DAT](INFO): DAT read: Tx time:18:37:36.6274

2025-09-04T18:37:37.444Z,1757011057.444 [DAT](INFO): Ping request sent.
2025-09-04T18:37:37.444Z,1757011057.444 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:37.445Z,1757011057.445 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-09-04T18:37:37.446Z,1757011057.446 [DAT](INFO): direction in FSK: [0.956509,-0.095472,-0.275637]
2025-09-04T18:37:37.446Z,1757011057.446 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:37.446Z,1757011057.446 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:37.449Z,1757011057.449 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:37.450Z,1757011057.450 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:37.491Z,1757011057.491 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.046200
2025-09-04T18:37:37.686Z,1757011057.686 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.241506
2025-09-04T18:37:37.937Z,1757011057.937 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.492772
2025-09-04T18:37:38.189Z,1757011058.189 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.744529
2025-09-04T18:37:38.442Z,1757011058.442 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.997234
2025-09-04T18:37:38.693Z,1757011058.693 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.248686
2025-09-04T18:37:38.945Z,1757011058.945 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.500856
2025-09-04T18:37:39.199Z,1757011059.199 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.754496
2025-09-04T18:37:39.251Z,1757011059.251 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00 +0.00,        +0.00,  20.00,356.28
2025-09-04T18:37:39.449Z,1757011059.449 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.004877
2025-09-04T18:37:39.701Z,1757011059.701 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.256613
2025-09-04T18:37:39.953Z,1757011059.953 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.508572
2025-09-04T18:37:40.208Z,1757011060.208 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.762747
2025-09-04T18:37:40.457Z,1757011060.457 [DAT](INFO): DAT read: Rx Time:18:37:39.0351

2025-09-04T18:37:40.458Z,1757011060.458 [DAT](INFO): Rx dataTimestamp_ set to:1757011060.457326
2025-09-04T18:37:40.458Z,1757011060.458 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.013802
2025-09-04T18:37:40.709Z,1757011060.709 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.264949
2025-09-04T18:37:40.978Z,1757011060.978 [DAT](INFO): DAT read: 18:37:39.0351 LVL= 28608, 26401, 27122, 25203, AGC= 39, IDX= 433, 0.04, 2.386, 1.181, 2.774, 1.716, PHS= 0.772,-0.490, 1.014, RAW= 158.6, -18.1, CAL= 161.2, -19.6, ROT= 348.8,  19.6

2025-09-04T18:37:40.979Z,1757011060.979 [DAT](INFO): got valid direction response:
 18:37:39.0351 LVL= 28608, 26401, 27122, 25203, AGC= 39, IDX= 433, 0.04, 2.386, 1.181, 2.774, 1.716, PHS= 0.772,-0.490, 1.014, RAW= 158.6, -18.1, CAL= 161.2, -19.6, ROT= 348.8,  19.6

2025-09-04T18:37:40.992Z,1757011060.992 [DAT](INFO): DAT read: Bearing 204.4,  -6.3 (Local)

2025-09-04T18:37:40.993Z,1757011060.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,  -6.3 (Local)

2025-09-04T18:37:40.995Z,1757011060.995 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m  (Round-trip  3.6 ms) speed -0.1 m/s

2025-09-04T18:37:40.997Z,1757011060.997 [DAT](INFO): DAT read: user:2926>

2025-09-04T18:37:40.998Z,1757011060.998 [DAT](INFO): DAT read: Tx time:18:37:40.1274

2025-09-04T18:37:40.998Z,1757011060.998 [DAT](INFO): Ping request sent.
2025-09-04T18:37:40.998Z,1757011060.998 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:40.999Z,1757011060.999 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-09-04T18:37:41.001Z,1757011061.001 [DAT](INFO): direction in FSK: [0.924116,-0.182980,-0.335452]
2025-09-04T18:37:41.001Z,1757011061.001 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:41.002Z,1757011061.002 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:41.007Z,1757011061.007 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:41.007Z,1757011061.007 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:41.013Z,1757011061.013 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.014924
2025-09-04T18:37:41.215Z,1757011061.215 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.216318
2025-09-04T18:37:41.465Z,1757011061.465 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.466833
2025-09-04T18:37:41.719Z,1757011061.719 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.721086
2025-09-04T18:37:41.969Z,1757011061.969 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.970659
2025-09-04T18:37:42.223Z,1757011062.223 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.224737
2025-09-04T18:37:42.477Z,1757011062.477 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.478513
2025-09-04T18:37:42.725Z,1757011062.725 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.726882
2025-09-04T18:37:42.978Z,1757011062.978 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.980124
2025-09-04T18:37:43.232Z,1757011063.232 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.232771
2025-09-04T18:37:43.482Z,1757011063.482 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.484046
2025-09-04T18:37:43.734Z,1757011063.734 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.736063
2025-09-04T18:37:43.987Z,1757011063.987 [DAT](INFO): DAT read: Rx Time:18:37:42.5357

2025-09-04T18:37:43.987Z,1757011063.987 [DAT](INFO): Rx dataTimestamp_ set to:1757011063.986686
2025-09-04T18:37:43.989Z,1757011063.989 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.990207
2025-09-04T18:37:44.239Z,1757011064.239 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.240624
2025-09-04T18:37:44.499Z,1757011064.499 [DAT](INFO): DAT read: 18:37:42.5356 LVL= 32752, 32753, 32754, 30547, AGC= 41, IDX= 438, 0.50,-0.711,-1.662,-0.168,-1.342, PHS= 0.733,-0.275, 1.130, RAW= 165.9, -24.1, CAL= 167.8, -25.0, ROT= 342.2,  25.0

2025-09-04T18:37:44.502Z,1757011064.502 [DAT](INFO): got valid direction response:
 18:37:42.5356 LVL= 32752, 32753, 32754, 30547, AGC= 41, IDX= 438, 0.50,-0.711,-1.662,-0.168,-1.342, PHS= 0.733,-0.275, 1.130, RAW= 165.9, -24.1, CAL= 167.8, -25.0, ROT= 342.2,  25.0

2025-09-04T18:37:44.503Z,1757011064.503 [DAT](INFO): DAT read: Bearing 202.3, -10.8 (Local)

2025-09-04T18:37:44.504Z,1757011064.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.3, -10.8 (Local)

2025-09-04T18:37:44.507Z,1757011064.507 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.1 ms) speed -0.1 m/s

2025-09-04T18:37:44.508Z,1757011064.508 [DAT](INFO): DAT read: user:2927>

2025-09-04T18:37:44.509Z,1757011064.509 [DAT](INFO): DAT read: Tx time:18:37:43.6273

2025-09-04T18:37:44.510Z,1757011064.510 [DAT](INFO): Ping request sent.
2025-09-04T18:37:44.510Z,1757011064.510 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:44.511Z,1757011064.511 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-09-04T18:37:44.532Z,1757011064.532 [DAT](INFO): direction in FSK: [0.862922,-0.277054,-0.422618]
2025-09-04T18:37:44.533Z,1757011064.533 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:44.533Z,1757011064.533 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:44.537Z,1757011064.537 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:44.537Z,1757011064.537 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:44.542Z,1757011064.542 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.032528
2025-09-04T18:37:44.741Z,1757011064.741 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.231523
2025-09-04T18:37:44.994Z,1757011064.994 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.484354
2025-09-04T18:37:45.248Z,1757011065.248 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.737599
2025-09-04T18:37:45.498Z,1757011065.498 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.988018
2025-09-04T18:37:45.660Z,1757011065.660 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-09-04T18:37:45.660Z,1757011065.660 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-09-04T18:37:45.691Z,1757011065.691 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:37:45.749Z,1757011065.749 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.239670
2025-09-04T18:37:46.002Z,1757011066.002 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.492771
2025-09-04T18:37:46.256Z,1757011066.256 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.745755
2025-09-04T18:37:46.257Z,1757011066.257 [DAT](INFO): Requesting device enable set for address 50.
2025-09-04T18:37:46.507Z,1757011066.507 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.996729
2025-09-04T18:37:46.507Z,1757011066.507 [DAT](INFO): Requesting device enable set for address 50.
2025-09-04T18:37:46.757Z,1757011066.757 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.247765
2025-09-04T18:37:46.758Z,1757011066.758 [DAT](INFO): Requesting device enable set for address 50.
2025-09-04T18:37:47.009Z,1757011067.009 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.499746
2025-09-04T18:37:47.261Z,1757011067.261 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.751475
2025-09-04T18:37:47.515Z,1757011067.515 [DAT](INFO): DAT read: Rx Time:18:37:46.0360

2025-09-04T18:37:47.516Z,1757011067.516 [DAT](INFO): Rx dataTimestamp_ set to:1757011067.515082
2025-09-04T18:37:47.517Z,1757011067.517 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.007073
2025-09-04T18:37:47.765Z,1757011067.765 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.255866
2025-09-04T18:37:48.023Z,1757011068.023 [DAT](INFO): DAT read: 18:37:46.0360 LVL= 32752, 31073, 31122, 32707, AGC= 43, IDX= 427,-0.22,-1.245,-2.096,-0.615,-1.754, PHS= 0.611,-0.297, 1.095, RAW= 170.0, -22.2, CAL= 171.9, -23.0, ROT= 338.1,  23.0

2025-09-04T18:37:48.024Z,1757011068.024 [DAT](INFO): got valid direction response:
 18:37:46.0360 LVL= 32752, 31073, 31122, 32707, AGC= 43, IDX= 427,-0.22,-1.245,-2.096,-0.615,-1.754, PHS= 0.611,-0.297, 1.095, RAW= 170.0, -22.2, CAL= 171.9, -23.0, ROT= 338.1,  23.0

2025-09-04T18:37:48.025Z,1757011068.025 [DAT](INFO): DAT read: Bearing 207.0, -16.3 (Local)

2025-09-04T18:37:48.025Z,1757011068.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0, -16.3 (Local)

2025-09-04T18:37:48.026Z,1757011068.026 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.5 ms) speed -0.1 m/s

2025-09-04T18:37:48.027Z,1757011068.027 [DAT](INFO): DAT read: user:2928>

2025-09-04T18:37:48.028Z,1757011068.028 [DAT](INFO): DAT read: Tx time:18:37:47.1273

2025-09-04T18:37:48.028Z,1757011068.028 [DAT](INFO): Ping request sent.
2025-09-04T18:37:48.028Z,1757011068.028 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:48.029Z,1757011068.029 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-09-04T18:37:48.030Z,1757011068.030 [DAT](INFO): direction in FSK: [0.854078,-0.343337,-0.390731]
2025-09-04T18:37:48.030Z,1757011068.030 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:48.030Z,1757011068.030 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:48.037Z,1757011068.037 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:48.038Z,1757011068.038 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:48.041Z,1757011068.041 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.012526
2025-09-04T18:37:48.289Z,1757011068.289 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.260125
2025-09-04T18:37:48.537Z,1757011068.537 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.508826
2025-09-04T18:37:48.789Z,1757011068.789 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.760664
2025-09-04T18:37:49.041Z,1757011069.041 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.012677
2025-09-04T18:37:49.293Z,1757011069.293 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.264903
2025-09-04T18:37:49.545Z,1757011069.545 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.516653
2025-09-04T18:37:49.797Z,1757011069.797 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.768833
2025-09-04T18:37:50.049Z,1757011070.049 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.020746
2025-09-04T18:37:50.303Z,1757011070.303 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.274746
2025-09-04T18:37:50.553Z,1757011070.553 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.525069
2025-09-04T18:37:50.805Z,1757011070.805 [DAT](INFO): DAT read: Rx Time:18:37:49.5364

2025-09-04T18:37:50.806Z,1757011070.806 [DAT](INFO): Rx dataTimestamp_ set to:1757011070.805239
2025-09-04T18:37:50.806Z,1757011070.806 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.777759
2025-09-04T18:37:51.057Z,1757011071.057 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.028724
2025-09-04T18:37:51.313Z,1757011071.313 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.284040
2025-09-04T18:37:51.567Z,1757011071.567 [DAT](INFO): DAT read: 18:37:49.5364 LVL= 32752, 32753, 28098, 32755, AGC= 42, IDX= 431,-0.14, 0.902,-0.018, 1.564, 0.415, PHS= 0.590,-0.388, 1.105, RAW= 169.9, -19.4, CAL= 172.2, -20.1, ROT= 337.8,  20.1

2025-09-04T18:37:51.568Z,1757011071.568 [DAT](INFO): got valid direction response:
 18:37:49.5364 LVL= 32752, 32753, 28098, 32755, AGC= 42, IDX= 431,-0.14, 0.902,-0.018, 1.564, 0.415, PHS= 0.590,-0.388, 1.105, RAW= 169.9, -19.4, CAL= 172.2, -20.1, ROT= 337.8,  20.1

2025-09-04T18:37:51.569Z,1757011071.569 [DAT](INFO): DAT read: Bearing 211.9, -20.7 (Local)

2025-09-04T18:37:51.569Z,1757011071.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.9, -20.7 (Local)

2025-09-04T18:37:51.571Z,1757011071.571 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m  (Round-trip  4.9 ms) speed -0.1 m/s

2025-09-04T18:37:51.571Z,1757011071.571 [DAT](INFO): DAT read: user:2929>

2025-09-04T18:37:51.572Z,1757011071.572 [DAT](INFO): DAT read: Tx time:18:37:50.6273

2025-09-04T18:37:51.572Z,1757011071.572 [DAT](INFO): Ping request sent.
2025-09-04T18:37:51.572Z,1757011071.572 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:51.573Z,1757011071.573 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-09-04T18:37:51.574Z,1757011071.574 [DAT](INFO): direction in FSK: [0.869480,-0.354828,-0.343660]
2025-09-04T18:37:51.574Z,1757011071.574 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:51.574Z,1757011071.574 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:51.606Z,1757011071.606 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:51.606Z,1757011071.606 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:51.610Z,1757011071.610 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.037328
2025-09-04T18:37:51.813Z,1757011071.813 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.240408
2025-09-04T18:37:52.065Z,1757011072.065 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.492935
2025-09-04T18:37:52.320Z,1757011072.320 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.747302
2025-09-04T18:37:52.569Z,1757011072.569 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.996648
2025-09-04T18:37:52.821Z,1757011072.821 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.248536
2025-09-04T18:37:53.073Z,1757011073.073 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.500611
2025-09-04T18:37:53.325Z,1757011073.325 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.752595
2025-09-04T18:37:53.577Z,1757011073.577 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.004497
2025-09-04T18:37:53.830Z,1757011073.830 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.257649
2025-09-04T18:37:54.081Z,1757011074.081 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.508504
2025-09-04T18:37:54.333Z,1757011074.333 [DAT](INFO): DAT read: Rx Time:18:37:53.0367

2025-09-04T18:37:54.334Z,1757011074.334 [DAT](INFO): Rx dataTimestamp_ set to:1757011074.333719
2025-09-04T18:37:54.335Z,1757011074.335 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.762424
2025-09-04T18:37:54.585Z,1757011074.585 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.012609
2025-09-04T18:37:54.862Z,1757011074.862 [DAT](INFO): DAT read: 18:37:53.0367 LVL= 29440, 32753, 24482, 29555, AGC= 43, IDX= 434, 0.11, 2.472, 1.521,-3.048, 2.140, PHS= 0.434,-0.574, 1.051, RAW= 172.1, -12.8, CAL= 173.4, -14.1, ROT= 336.6,  14.1

2025-09-04T18:37:54.864Z,1757011074.864 [DAT](INFO): got valid direction response:
 18:37:53.0367 LVL= 29440, 32753, 24482, 29555, AGC= 43, IDX= 434, 0.11, 2.472, 1.521,-3.048, 2.140, PHS= 0.434,-0.574, 1.051, RAW= 172.1, -12.8, CAL= 173.4, -14.1, ROT= 336.6,  14.1

2025-09-04T18:37:54.870Z,1757011074.870 [DAT](INFO): DAT read: Bearing 220.6, -26.8 (Local)

2025-09-04T18:37:54.871Z,1757011074.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6, -26.8 (Local)

2025-09-04T18:37:54.879Z,1757011074.879 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m  (Round-trip  5.2 ms) speed -0.1 m/s

2025-09-04T18:37:54.879Z,1757011074.879 [DAT](INFO): DAT read: user:2930>

2025-09-04T18:37:54.900Z,1757011074.900 [DAT](INFO): DAT read: Tx time:18:37:54.1273

2025-09-04T18:37:54.901Z,1757011074.901 [DAT](INFO): Ping request sent.
2025-09-04T18:37:54.901Z,1757011074.901 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:54.901Z,1757011074.901 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-09-04T18:37:54.902Z,1757011074.902 [DAT](INFO): direction in FSK: [0.890105,-0.385183,-0.243615]
2025-09-04T18:37:54.902Z,1757011074.902 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:54.903Z,1757011074.903 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:54.914Z,1757011074.914 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:54.914Z,1757011074.914 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:54.930Z,1757011074.930 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.028876
2025-09-04T18:37:55.089Z,1757011075.089 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.188065
2025-09-04T18:37:55.341Z,1757011075.341 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.440247
2025-09-04T18:37:55.598Z,1757011075.598 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.696994
2025-09-04T18:37:55.849Z,1757011075.849 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.948009
2025-09-04T18:37:56.101Z,1757011076.101 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.200093
2025-09-04T18:37:56.353Z,1757011076.353 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.452007
2025-09-04T18:37:56.605Z,1757011076.605 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.704334
2025-09-04T18:37:56.857Z,1757011076.857 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.956096
2025-09-04T18:37:57.109Z,1757011077.109 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.208145
2025-09-04T18:37:57.361Z,1757011077.361 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.460313
2025-09-04T18:37:57.614Z,1757011077.614 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.712690
2025-09-04T18:37:57.865Z,1757011077.865 [DAT](INFO): DAT read: Rx Time:18:37:56.5371

2025-09-04T18:37:57.865Z,1757011077.865 [DAT](INFO): Rx dataTimestamp_ set to:1757011077.865203
2025-09-04T18:37:57.866Z,1757011077.866 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.965094
2025-09-04T18:37:58.117Z,1757011078.117 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=3.216116
2025-09-04T18:37:58.375Z,1757011078.375 [DAT](INFO): DAT read: 18:37:56.5371 LVL= 32752, 32753, 27122, 32755, AGC= 46, IDX= 423,-0.33, 0.841,-0.004, 1.750, 0.748, PHS= 0.195,-0.706, 0.958, RAW= 177.3,  -6.2, CAL= 177.7,  -8.2, ROT= 332.3,   8.2

2025-09-04T18:37:58.376Z,1757011078.376 [DAT](INFO): got valid direction response:
 18:37:56.5371 LVL= 32752, 32753, 27122, 32755, AGC= 46, IDX= 423,-0.33, 0.841,-0.004, 1.750, 0.748, PHS= 0.195,-0.706, 0.958, RAW= 177.3,  -6.2, CAL= 177.7,  -8.2, ROT= 332.3,   8.2

2025-09-04T18:37:58.377Z,1757011078.377 [DAT](INFO): DAT read: Bearing 230.2, -35.0 (Local)

2025-09-04T18:37:58.377Z,1757011078.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.2, -35.0 (Local)

2025-09-04T18:37:58.379Z,1757011078.379 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m  (Round-trip  5.6 ms) speed -0.1 m/s

2025-09-04T18:37:58.379Z,1757011078.379 [DAT](INFO): DAT read: user:2931>

2025-09-04T18:37:58.380Z,1757011078.380 [DAT](INFO): DAT read: Tx time:18:37:57.6273

2025-09-04T18:37:58.380Z,1757011078.380 [DAT](INFO): Ping request sent.
2025-09-04T18:37:58.381Z,1757011078.381 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:37:58.381Z,1757011078.381 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-09-04T18:37:58.382Z,1757011078.382 [DAT](INFO): direction in FSK: [0.876341,-0.460090,-0.142629]
2025-09-04T18:37:58.382Z,1757011078.382 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:58.382Z,1757011078.382 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:58.386Z,1757011078.386 [DAT](INFO): publishing transmit ping time
2025-09-04T18:37:58.386Z,1757011078.386 [DAT](INFO): publishing direction and range info
2025-09-04T18:37:58.402Z,1757011078.402 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.021007
2025-09-04T18:37:58.621Z,1757011078.621 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.240394
2025-09-04T18:37:58.874Z,1757011078.874 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.492682
2025-09-04T18:37:59.125Z,1757011079.125 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.744534
2025-09-04T18:37:59.377Z,1757011079.377 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.996357
2025-09-04T18:37:59.629Z,1757011079.629 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.248405
2025-09-04T18:37:59.881Z,1757011079.881 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.500360
2025-09-04T18:38:00.133Z,1757011080.133 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.752343
2025-09-04T18:38:00.385Z,1757011080.385 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.004620
2025-09-04T18:38:00.637Z,1757011080.637 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.256417
2025-09-04T18:38:00.889Z,1757011080.889 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.508377
2025-09-04T18:38:01.141Z,1757011081.141 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.760491
2025-09-04T18:38:01.393Z,1757011081.393 [DAT](INFO): DAT read: Rx Time:18:38:00.0375

2025-09-04T18:38:01.394Z,1757011081.394 [DAT](INFO): Rx dataTimestamp_ set to:1757011081.393248
2025-09-04T18:38:01.394Z,1757011081.394 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.013478
2025-09-04T18:38:01.645Z,1757011081.645 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.264440
2025-09-04T18:38:01.907Z,1757011081.907 [DAT](INFO): DAT read: 18:38:00.0375 LVL= 26992, 31521, 20530, 32755, AGC= 44, IDX= 428, 0.04,-1.324,-2.124,-0.337,-1.364, PHS= 0.142,-0.715, 0.983, RAW= 179.7,  -5.6, CAL= 180.0,  -7.7, ROT= 330.0,   7.7

2025-09-04T18:38:01.908Z,1757011081.908 [DAT](INFO): got valid direction response:
 18:38:00.0375 LVL= 26992, 31521, 20530, 32755, AGC= 44, IDX= 428, 0.04,-1.324,-2.124,-0.337,-1.364, PHS= 0.142,-0.715, 0.983, RAW= 179.7,  -5.6, CAL= 180.0,  -7.7, ROT= 330.0,   7.7

2025-09-04T18:38:01.909Z,1757011081.909 [DAT](INFO): DAT read: Bearing 233.4, -38.6 (Local)

2025-09-04T18:38:01.910Z,1757011081.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.4, -38.6 (Local)

2025-09-04T18:38:01.911Z,1757011081.911 [DAT](INFO): DAT read: Range 11 to 50 : 4.6 m  (Round-trip  6.2 ms) speed -0.1 m/s

2025-09-04T18:38:01.912Z,1757011081.912 [DAT](INFO): DAT read: user:2932>

2025-09-04T18:38:01.913Z,1757011081.913 [DAT](INFO): DAT read: Tx time:18:38:01.1272

2025-09-04T18:38:01.913Z,1757011081.913 [DAT](INFO): Ping request sent.
2025-09-04T18:38:01.913Z,1757011081.913 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:01.913Z,1757011081.913 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-09-04T18:38:01.914Z,1757011081.914 [DAT](INFO): direction in FSK: [0.858217,-0.495492,-0.133986]
2025-09-04T18:38:01.915Z,1757011081.915 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:01.915Z,1757011081.915 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:01.930Z,1757011081.930 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:01.931Z,1757011081.931 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:01.935Z,1757011081.935 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.021403
2025-09-04T18:38:02.149Z,1757011082.149 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.236184
2025-09-04T18:38:02.401Z,1757011082.401 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.487744
2025-09-04T18:38:02.653Z,1757011082.653 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.740001
2025-09-04T18:38:02.905Z,1757011082.905 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.991905
2025-09-04T18:38:03.157Z,1757011083.157 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.243934
2025-09-04T18:38:03.409Z,1757011083.409 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.495880
2025-09-04T18:38:03.631Z,1757011083.631 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.990000m. At depth:70.360054m.
2025-09-04T18:38:03.662Z,1757011083.662 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.748690
2025-09-04T18:38:03.913Z,1757011083.913 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.999779
2025-09-04T18:38:04.165Z,1757011084.165 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.252082
2025-09-04T18:38:04.417Z,1757011084.417 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.503867
2025-09-04T18:38:04.669Z,1757011084.669 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.755873
2025-09-04T18:38:04.921Z,1757011084.921 [DAT](INFO): DAT read: Rx Time:18:38:03.5380

2025-09-04T18:38:04.922Z,1757011084.922 [DAT](INFO): Rx dataTimestamp_ set to:1757011084.921277
2025-09-04T18:38:04.922Z,1757011084.922 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=3.008988
2025-09-04T18:38:05.173Z,1757011085.173 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=3.259986
2025-09-04T18:38:05.445Z,1757011085.445 [DAT](INFO): DAT read: 18:38:03.5380 LVL= 29040, 32753, 19490, 32339, AGC= 45, IDX= 433,-0.18,-2.046,-2.766,-1.037,-2.133, PHS= 0.189,-0.589, 1.052, RAW= 181.7,  -9.2, CAL= 182.3, -11.0, ROT= 327.7,  11.0

2025-09-04T18:38:05.447Z,1757011085.447 [DAT](INFO): got valid direction response:
 18:38:03.5380 LVL= 29040, 32753, 19490, 32339, AGC= 45, IDX= 433,-0.18,-2.046,-2.766,-1.037,-2.133, PHS= 0.189,-0.589, 1.052, RAW= 181.7,  -9.2, CAL= 182.3, -11.0, ROT= 327.7,  11.0

2025-09-04T18:38:05.466Z,1757011085.466 [DAT](INFO): DAT read: Bearing 231.1, -39.0 (Local)

2025-09-04T18:38:05.467Z,1757011085.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.1, -39.0 (Local)

2025-09-04T18:38:05.478Z,1757011085.478 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m  (Round-trip  6.7 ms) speed -0.1 m/s

2025-09-04T18:38:05.479Z,1757011085.479 [DAT](INFO): DAT read: user:2933>

2025-09-04T18:38:05.488Z,1757011085.488 [DAT](INFO): DAT read: Tx time:18:38:04.6272

2025-09-04T18:38:05.489Z,1757011085.489 [DAT](INFO): Ping request sent.
2025-09-04T18:38:05.489Z,1757011085.489 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:05.489Z,1757011085.489 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-09-04T18:38:05.491Z,1757011085.491 [DAT](INFO): direction in FSK: [0.829732,-0.524535,-0.190809]
2025-09-04T18:38:05.491Z,1757011085.491 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:05.492Z,1757011085.492 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:05.512Z,1757011085.512 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:05.513Z,1757011085.513 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:05.520Z,1757011085.520 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.031522
2025-09-04T18:38:05.681Z,1757011085.681 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.192499
2025-09-04T18:38:05.933Z,1757011085.933 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.444364
2025-09-04T18:38:06.185Z,1757011086.185 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.696235
2025-09-04T18:38:06.438Z,1757011086.438 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.949225
2025-09-04T18:38:06.689Z,1757011086.689 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.200247
2025-09-04T18:38:06.942Z,1757011086.942 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.453334
2025-09-04T18:38:07.193Z,1757011087.193 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.704171
2025-09-04T18:38:07.447Z,1757011087.447 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.957892
2025-09-04T18:38:07.699Z,1757011087.699 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.209676
2025-09-04T18:38:07.950Z,1757011087.950 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.461135
2025-09-04T18:38:08.201Z,1757011088.201 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.712425
2025-09-04T18:38:08.467Z,1757011088.467 [DAT](INFO): DAT read: Rx Time:18:38:07.0386

2025-09-04T18:38:08.467Z,1757011088.467 [DAT](INFO): Rx dataTimestamp_ set to:1757011088.466936
2025-09-04T18:38:08.468Z,1757011088.468 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.978999
2025-09-04T18:38:08.717Z,1757011088.717 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.228459
2025-09-04T18:38:08.981Z,1757011088.981 [DAT](INFO): DAT read: 18:38:07.0386 LVL= 26992, 30497, 19810, 28723, AGC= 45, IDX= 439,-0.29, 1.721, 1.115, 2.725, 1.526, PHS= 0.297,-0.366, 1.155, RAW= 184.2, -16.2, CAL= 185.0, -17.5, ROT= 325.0,  17.5

2025-09-04T18:38:08.983Z,1757011088.983 [DAT](INFO): got valid direction response:
 18:38:07.0386 LVL= 26992, 30497, 19810, 28723, AGC= 45, IDX= 439,-0.29, 1.721, 1.115, 2.725, 1.526, PHS= 0.297,-0.366, 1.155, RAW= 184.2, -16.2, CAL= 185.0, -17.5, ROT= 325.0,  17.5

2025-09-04T18:38:08.987Z,1757011088.987 [DAT](INFO): DAT read: Bearing 224.6, -37.4 (Local)

2025-09-04T18:38:08.987Z,1757011088.987 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.6, -37.4 (Local)

2025-09-04T18:38:08.993Z,1757011088.993 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m  (Round-trip  7.3 ms) speed -0.1 m/s

2025-09-04T18:38:08.994Z,1757011088.994 [DAT](INFO): DAT read: user:2934>

2025-09-04T18:38:08.995Z,1757011088.995 [DAT](INFO): DAT read: Tx time:18:38:08.1272

2025-09-04T18:38:08.995Z,1757011088.995 [DAT](INFO): Ping request sent.
2025-09-04T18:38:08.995Z,1757011088.995 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:08.995Z,1757011088.995 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-09-04T18:38:09.002Z,1757011089.001 [DAT](INFO): direction in FSK: [0.781239,-0.547030,-0.300706]
2025-09-04T18:38:09.002Z,1757011089.002 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:09.002Z,1757011089.002 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:09.009Z,1757011089.009 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:09.010Z,1757011089.010 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:09.015Z,1757011089.015 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.020060
2025-09-04T18:38:09.221Z,1757011089.221 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.225927
2025-09-04T18:38:09.477Z,1757011089.477 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.482252
2025-09-04T18:38:09.725Z,1757011089.725 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.730130
2025-09-04T18:38:09.978Z,1757011089.978 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.982565
2025-09-04T18:38:10.231Z,1757011090.231 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.235854
2025-09-04T18:38:10.482Z,1757011090.482 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.486593
2025-09-04T18:38:10.733Z,1757011090.733 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.737979
2025-09-04T18:38:10.985Z,1757011090.985 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.990372
2025-09-04T18:38:11.237Z,1757011091.237 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.242023
2025-09-04T18:38:11.490Z,1757011091.490 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.494723
2025-09-04T18:38:11.741Z,1757011091.741 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.746099
2025-09-04T18:38:11.993Z,1757011091.993 [DAT](INFO): DAT read: Rx Time:18:38:10.5391

2025-09-04T18:38:11.994Z,1757011091.994 [DAT](INFO): Rx dataTimestamp_ set to:1757011091.993271
2025-09-04T18:38:11.994Z,1757011091.994 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.999110
2025-09-04T18:38:12.245Z,1757011092.245 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=3.250124
2025-09-04T18:38:12.509Z,1757011092.509 [DAT](INFO): DAT read: 18:38:10.5391 LVL= 32752, 31057, 16706, 32483, AGC= 45, IDX= 428,-0.37,-2.867, 2.949,-1.830, 3.139, PHS= 0.379,-0.145, 1.270, RAW= 188.5, -23.2, CAL= 188.7, -24.9, ROT= 321.3,  24.9

2025-09-04T18:38:12.510Z,1757011092.510 [DAT](INFO): got valid direction response:
 18:38:10.5391 LVL= 32752, 31057, 16706, 32483, AGC= 45, IDX= 428,-0.37,-2.867, 2.949,-1.830, 3.139, PHS= 0.379,-0.145, 1.270, RAW= 188.5, -23.2, CAL= 188.7, -24.9, ROT= 321.3,  24.9

2025-09-04T18:38:12.511Z,1757011092.511 [DAT](INFO): DAT read: Bearing 217.3, -35.0 (Local)

2025-09-04T18:38:12.511Z,1757011092.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.3, -35.0 (Local)

2025-09-04T18:38:12.513Z,1757011092.513 [DAT](INFO): DAT read: Range 11 to 50 : 5.8 m  (Round-trip  7.8 ms) speed -0.2 m/s

2025-09-04T18:38:12.514Z,1757011092.514 [DAT](INFO): DAT read: user:2935>

2025-09-04T18:38:12.514Z,1757011092.514 [DAT](INFO): DAT read: Tx time:18:38:11.6272

2025-09-04T18:38:12.515Z,1757011092.515 [DAT](INFO): Ping request sent.
2025-09-04T18:38:12.515Z,1757011092.515 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:12.515Z,1757011092.515 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-09-04T18:38:12.516Z,1757011092.516 [DAT](INFO): direction in FSK: [0.707885,-0.567123,-0.421036]
2025-09-04T18:38:12.516Z,1757011092.516 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:12.517Z,1757011092.517 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:12.520Z,1757011092.520 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:12.520Z,1757011092.520 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:12.523Z,1757011092.523 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.008623
2025-09-04T18:38:12.749Z,1757011092.749 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.234584
2025-09-04T18:38:13.001Z,1757011093.001 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.486344
2025-09-04T18:38:13.253Z,1757011093.253 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.738250
2025-09-04T18:38:13.506Z,1757011093.506 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.990910
2025-09-04T18:38:13.757Z,1757011093.757 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.242137
2025-09-04T18:38:14.010Z,1757011094.010 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.495504
2025-09-04T18:38:14.261Z,1757011094.261 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.746553
2025-09-04T18:38:14.513Z,1757011094.513 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.998225
2025-09-04T18:38:14.766Z,1757011094.766 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.250819
2025-09-04T18:38:15.017Z,1757011095.017 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.502376
2025-09-04T18:38:15.269Z,1757011095.269 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.754221
2025-09-04T18:38:15.521Z,1757011095.521 [DAT](INFO): DAT read: Rx Time:18:38:14.0397

2025-09-04T18:38:15.522Z,1757011095.522 [DAT](INFO): Rx dataTimestamp_ set to:1757011095.521566
2025-09-04T18:38:15.522Z,1757011095.522 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.007652
2025-09-04T18:38:15.773Z,1757011095.773 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.258319
2025-09-04T18:38:16.034Z,1757011096.034 [DAT](INFO): DAT read: 18:38:14.0397 LVL= 32752, 32753, 24562, 31219, AGC= 46, IDX= 433, 0.28, 2.091, 1.699,-3.135, 1.812, PHS= 0.380,-0.069, 1.291, RAW= 191.1, -25.3, CAL= 191.0, -27.3, ROT= 319.0,  27.3

2025-09-04T18:38:16.035Z,1757011096.035 [DAT](INFO): got valid direction response:
 18:38:14.0397 LVL= 32752, 32753, 24562, 31219, AGC= 46, IDX= 433, 0.28, 2.091, 1.699,-3.135, 1.812, PHS= 0.380,-0.069, 1.291, RAW= 191.1, -25.3, CAL= 191.0, -27.3, ROT= 319.0,  27.3

2025-09-04T18:38:16.038Z,1757011096.038 [DAT](INFO): DAT read: Bearing 215.2, -32.9 (Local)

2025-09-04T18:38:16.038Z,1757011096.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.2, -32.9 (Local)

2025-09-04T18:38:16.040Z,1757011096.040 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m  (Round-trip  8.3 ms) speed -0.1 m/s

2025-09-04T18:38:16.041Z,1757011096.041 [DAT](INFO): DAT read: user:2936>

2025-09-04T18:38:16.042Z,1757011096.042 [DAT](INFO): DAT read: Tx time:18:38:15.1772

2025-09-04T18:38:16.043Z,1757011096.043 [DAT](INFO): Ping request sent.
2025-09-04T18:38:16.043Z,1757011096.043 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:16.043Z,1757011096.043 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-09-04T18:38:16.057Z,1757011096.057 [DAT](INFO): direction in FSK: [0.670648,-0.582985,-0.458650]
2025-09-04T18:38:16.057Z,1757011096.057 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:16.057Z,1757011096.057 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:16.065Z,1757011096.065 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:16.065Z,1757011096.065 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:16.094Z,1757011096.094 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.050845
2025-09-04T18:38:16.277Z,1757011096.277 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.234653
2025-09-04T18:38:16.529Z,1757011096.529 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.486315
2025-09-04T18:38:16.781Z,1757011096.781 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.738202
2025-09-04T18:38:17.033Z,1757011097.033 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.990341
2025-09-04T18:38:17.285Z,1757011097.285 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.242289
2025-09-04T18:38:17.537Z,1757011097.537 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.494259
2025-09-04T18:38:17.789Z,1757011097.789 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.746664
2025-09-04T18:38:18.042Z,1757011098.042 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.998876
2025-09-04T18:38:18.293Z,1757011098.293 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.250265
2025-09-04T18:38:18.549Z,1757011098.549 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.506388
2025-09-04T18:38:18.801Z,1757011098.801 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.758340
2025-09-04T18:38:19.053Z,1757011099.053 [DAT](INFO): DAT read: Rx Time:18:38:17.5902

2025-09-04T18:38:19.054Z,1757011099.054 [DAT](INFO): Rx dataTimestamp_ set to:1757011099.053359
2025-09-04T18:38:19.054Z,1757011099.054 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.011476
2025-09-04T18:38:19.305Z,1757011099.305 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.262281
2025-09-04T18:38:19.563Z,1757011099.563 [DAT](INFO): DAT read: 18:38:17.5902 LVL= 32752, 32753, 26658, 30339, AGC= 46, IDX= 423, 0.22,-2.586,-2.943,-1.532,-2.851, PHS= 0.366,-0.048, 1.274, RAW= 192.2, -25.7, CAL= 192.0, -27.8, ROT= 318.0,  27.8

2025-09-04T18:38:19.564Z,1757011099.564 [DAT](INFO): got valid direction response:
 18:38:17.5902 LVL= 32752, 32753, 26658, 30339, AGC= 46, IDX= 423, 0.22,-2.586,-2.943,-1.532,-2.851, PHS= 0.366,-0.048, 1.274, RAW= 192.2, -25.7, CAL= 192.0, -27.8, ROT= 318.0,  27.8

2025-09-04T18:38:19.565Z,1757011099.565 [DAT](INFO): DAT read: Bearing 214.4, -32.5 (Local)

2025-09-04T18:38:19.565Z,1757011099.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.4, -32.5 (Local)

2025-09-04T18:38:19.567Z,1757011099.567 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m  (Round-trip  8.9 ms) speed -0.1 m/s

2025-09-04T18:38:19.568Z,1757011099.568 [DAT](INFO): DAT read: user:2937>

2025-09-04T18:38:19.569Z,1757011099.569 [DAT](INFO): DAT read: Tx time:18:38:18.6771

2025-09-04T18:38:19.569Z,1757011099.569 [DAT](INFO): Ping request sent.
2025-09-04T18:38:19.569Z,1757011099.569 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:19.569Z,1757011099.569 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-09-04T18:38:19.570Z,1757011099.570 [DAT](INFO): direction in FSK: [0.657372,-0.591900,-0.466387]
2025-09-04T18:38:19.570Z,1757011099.570 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:19.571Z,1757011099.571 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:19.574Z,1757011099.574 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:19.575Z,1757011099.575 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:19.578Z,1757011099.578 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.009075
2025-09-04T18:38:19.825Z,1757011099.825 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.256164
2025-09-04T18:38:20.086Z,1757011100.086 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.516986
2025-09-04T18:38:20.334Z,1757011100.334 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.765122
2025-09-04T18:38:20.585Z,1757011100.585 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.016051
2025-09-04T18:38:20.837Z,1757011100.837 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.268253
2025-09-04T18:38:21.089Z,1757011101.089 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.520178
2025-09-04T18:38:21.341Z,1757011101.341 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.772121
2025-09-04T18:38:21.593Z,1757011101.593 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.024002
2025-09-04T18:38:21.847Z,1757011101.847 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.278356
2025-09-04T18:38:22.097Z,1757011102.097 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.528020
2025-09-04T18:38:22.349Z,1757011102.349 [DAT](INFO): DAT read: Rx Time:18:38:21.0907

2025-09-04T18:38:22.350Z,1757011102.350 [DAT](INFO): Rx dataTimestamp_ set to:1757011102.349280
2025-09-04T18:38:22.350Z,1757011102.350 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.781183
2025-09-04T18:38:22.601Z,1757011102.601 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.032047
2025-09-04T18:38:22.856Z,1757011102.856 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.286769
2025-09-04T18:38:23.111Z,1757011103.111 [DAT](INFO): DAT read: 18:38:21.0907 LVL= 31152, 30865, 23106, 32755, AGC= 48, IDX= 428, 0.13,-1.273,-1.669,-0.214,-1.564, PHS= 0.393,-0.060, 1.306, RAW= 191.0, -25.7, CAL= 190.9, -27.7, ROT= 319.1,  27.7

2025-09-04T18:38:23.112Z,1757011103.112 [DAT](INFO): got valid direction response:
 18:38:21.0907 LVL= 31152, 30865, 23106, 32755, AGC= 48, IDX= 428, 0.13,-1.273,-1.669,-0.214,-1.564, PHS= 0.393,-0.060, 1.306, RAW= 191.0, -25.7, CAL= 190.9, -27.7, ROT= 319.1,  27.7

2025-09-04T18:38:23.113Z,1757011103.113 [DAT](INFO): DAT read: Bearing 213.5, -33.1 (Local)

2025-09-04T18:38:23.113Z,1757011103.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.5, -33.1 (Local)

2025-09-04T18:38:23.115Z,1757011103.115 [DAT](INFO): DAT read: Range 11 to 50 : 7.0 m  (Round-trip  9.4 ms) speed -0.1 m/s

2025-09-04T18:38:23.115Z,1757011103.115 [DAT](INFO): DAT read: user:2938>

2025-09-04T18:38:23.116Z,1757011103.116 [DAT](INFO): DAT read: Tx time:18:38:22.1771

2025-09-04T18:38:23.116Z,1757011103.116 [DAT](INFO): Ping request sent.
2025-09-04T18:38:23.117Z,1757011103.117 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:23.117Z,1757011103.117 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-09-04T18:38:23.118Z,1757011103.118 [DAT](INFO): direction in FSK: [0.669228,-0.579703,-0.464842]
2025-09-04T18:38:23.118Z,1757011103.118 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:23.118Z,1757011103.118 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:23.122Z,1757011103.122 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:23.122Z,1757011103.122 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:23.130Z,1757011103.130 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.013264
2025-09-04T18:38:23.357Z,1757011103.357 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.240591
2025-09-04T18:38:23.610Z,1757011103.610 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.493111
2025-09-04T18:38:23.863Z,1757011103.863 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.746411
2025-09-04T18:38:24.117Z,1757011104.117 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.000073
2025-09-04T18:38:24.365Z,1757011104.365 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.248336
2025-09-04T18:38:24.617Z,1757011104.617 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.500373
2025-09-04T18:38:24.872Z,1757011104.872 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.754884
2025-09-04T18:38:25.121Z,1757011105.121 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.004459
2025-09-04T18:38:25.373Z,1757011105.373 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.256628
2025-09-04T18:38:25.625Z,1757011105.625 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.508537
2025-09-04T18:38:25.880Z,1757011105.880 [DAT](INFO): DAT read: Rx Time:18:38:24.5912

2025-09-04T18:38:25.881Z,1757011105.881 [DAT](INFO): Rx dataTimestamp_ set to:1757011105.880275
2025-09-04T18:38:25.883Z,1757011105.883 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.765880
2025-09-04T18:38:26.129Z,1757011106.129 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.012266
2025-09-04T18:38:26.385Z,1757011106.385 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.267446
2025-09-04T18:38:26.640Z,1757011106.640 [DAT](INFO): DAT read: 18:38:24.5912 LVL= 27600, 26945, 20562, 28403, AGC= 48, IDX= 434,-0.20, 0.067,-0.409, 1.096,-0.248, PHS= 0.417,-0.117, 1.300, RAW= 188.1, -24.5, CAL= 188.2, -26.3, ROT= 321.8,  26.3

2025-09-04T18:38:26.642Z,1757011106.642 [DAT](INFO): got valid direction response:
 18:38:24.5912 LVL= 27600, 26945, 20562, 28403, AGC= 48, IDX= 434,-0.20, 0.067,-0.409, 1.096,-0.248, PHS= 0.417,-0.117, 1.300, RAW= 188.1, -24.5, CAL= 188.2, -26.3, ROT= 321.8,  26.3

2025-09-04T18:38:26.643Z,1757011106.643 [DAT](INFO): DAT read: Bearing 213.4, -34.2 (Local)

2025-09-04T18:38:26.643Z,1757011106.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.4, -34.2 (Local)

2025-09-04T18:38:26.644Z,1757011106.644 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m  (Round-trip  9.9 ms) speed -0.1 m/s

2025-09-04T18:38:26.645Z,1757011106.645 [DAT](INFO): DAT read: user:2939>

2025-09-04T18:38:26.646Z,1757011106.646 [DAT](INFO): DAT read: Tx time:18:38:25.6771

2025-09-04T18:38:26.646Z,1757011106.646 [DAT](INFO): Ping request sent.
2025-09-04T18:38:26.646Z,1757011106.646 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:26.646Z,1757011106.646 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-09-04T18:38:26.647Z,1757011106.647 [DAT](INFO): direction in FSK: [0.704510,-0.554395,-0.443071]
2025-09-04T18:38:26.680Z,1757011106.680 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:26.681Z,1757011106.681 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:26.684Z,1757011106.684 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:26.688Z,1757011106.688 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:26.692Z,1757011106.692 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.045307
2025-09-04T18:38:26.889Z,1757011106.889 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.242650
2025-09-04T18:38:27.137Z,1757011107.137 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.490868
2025-09-04T18:38:27.389Z,1757011107.389 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.742802
2025-09-04T18:38:27.641Z,1757011107.641 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.994895
2025-09-04T18:38:27.896Z,1757011107.896 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.249018
2025-09-04T18:38:28.145Z,1757011108.145 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.498727
2025-09-04T18:38:28.398Z,1757011108.398 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.751543
2025-09-04T18:38:28.649Z,1757011108.649 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.002711
2025-09-04T18:38:28.907Z,1757011108.907 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.260097
2025-09-04T18:38:29.157Z,1757011109.157 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.511002
2025-09-04T18:38:29.410Z,1757011109.410 [DAT](INFO): DAT read: Rx Time:18:38:28.0915

2025-09-04T18:38:29.410Z,1757011109.410 [DAT](INFO): Rx dataTimestamp_ set to:1757011109.410176
2025-09-04T18:38:29.412Z,1757011109.412 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.765084
2025-09-04T18:38:29.661Z,1757011109.661 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=3.014871
2025-09-04T18:38:29.933Z,1757011109.933 [DAT](INFO): DAT read: 18:38:28.0915 LVL= 28880, 32049, 23746, 27315, AGC= 49, IDX= 421, 0.18, 1.670, 1.110, 2.709, 1.423, PHS= 0.348,-0.268, 1.241, RAW= 186.0, -19.6, CAL= 186.7, -20.8, ROT= 323.3,  20.8

2025-09-04T18:38:29.941Z,1757011109.941 [DAT](INFO): got valid direction response:
 18:38:28.0915 LVL= 28880, 32049, 23746, 27315, AGC= 49, IDX= 421, 0.18, 1.670, 1.110, 2.709, 1.423, PHS= 0.348,-0.268, 1.241, RAW= 186.0, -19.6, CAL= 186.7, -20.8, ROT= 323.3,  20.8

2025-09-04T18:38:29.944Z,1757011109.944 [DAT](INFO): DAT read: Bearing 218.2, -37.8 (Local)

2025-09-04T18:38:29.945Z,1757011109.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.2, -37.8 (Local)

2025-09-04T18:38:29.996Z,1757011109.996 [DAT](INFO): DAT read: Range 11 to 50 : 7.6 m  (Round-trip  10.2 ms) speed -0.1 m/s

2025-09-04T18:38:29.997Z,1757011109.997 [DAT](INFO): DAT read: user:2940>

2025-09-04T18:38:29.998Z,1757011109.998 [DAT](INFO): DAT read: Tx time:18:38:29.1771

2025-09-04T18:38:29.998Z,1757011109.998 [DAT](INFO): Ping request sent.
2025-09-04T18:38:29.998Z,1757011109.998 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:29.998Z,1757011109.998 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-09-04T18:38:29.999Z,1757011109.999 [DAT](INFO): direction in FSK: [0.749520,-0.558676,-0.355107]
2025-09-04T18:38:29.000Z,1757011110.000 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:30.016Z,1757011110.016 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:30.019Z,1757011110.019 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:30.019Z,1757011110.019 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:30.039Z,1757011110.039 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.040990
2025-09-04T18:38:30.165Z,1757011110.165 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.167078
2025-09-04T18:38:30.419Z,1757011110.419 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.420500
2025-09-04T18:38:30.670Z,1757011110.670 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.672314
2025-09-04T18:38:30.926Z,1757011110.926 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.926869
2025-09-04T18:38:31.173Z,1757011111.173 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.174827
2025-09-04T18:38:31.425Z,1757011111.425 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.427045
2025-09-04T18:38:31.677Z,1757011111.677 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.678894
2025-09-04T18:38:31.931Z,1757011111.931 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.932123
2025-09-04T18:38:32.181Z,1757011112.181 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.183134
2025-09-04T18:38:32.434Z,1757011112.434 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.435380
2025-09-04T18:38:32.685Z,1757011112.685 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.686774
2025-09-04T18:38:32.940Z,1757011112.940 [DAT](INFO): DAT read: Rx Time:18:38:31.5919

2025-09-04T18:38:32.942Z,1757011112.942 [DAT](INFO): Rx dataTimestamp_ set to:1757011112.941100
2025-09-04T18:38:32.944Z,1757011112.944 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.945231
2025-09-04T18:38:33.189Z,1757011113.189 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.191236
2025-09-04T18:38:33.447Z,1757011113.447 [DAT](INFO): DAT read: 18:38:31.5919 LVL= 28288, 32753, 20706, 31731, AGC= 49, IDX= 427, 0.24, 2.887, 2.295,-2.316, 2.770, PHS= 0.219,-0.430, 1.153, RAW= 185.9, -13.6, CAL= 186.5, -15.2, ROT= 323.5,  15.2

2025-09-04T18:38:33.449Z,1757011113.449 [DAT](INFO): got valid direction response:
 18:38:31.5919 LVL= 28288, 32753, 20706, 31731, AGC= 49, IDX= 427, 0.24, 2.887, 2.295,-2.316, 2.770, PHS= 0.219,-0.430, 1.153, RAW= 185.9, -13.6, CAL= 186.5, -15.2, ROT= 323.5,  15.2

2025-09-04T18:38:33.450Z,1757011113.450 [DAT](INFO): DAT read: Bearing 225.3, -41.4 (Local)

2025-09-04T18:38:33.450Z,1757011113.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.3, -41.4 (Local)

2025-09-04T18:38:33.452Z,1757011113.452 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m  (Round-trip  10.8 ms) speed -0.1 m/s

2025-09-04T18:38:33.452Z,1757011113.452 [DAT](INFO): DAT read: user:2941>

2025-09-04T18:38:33.453Z,1757011113.453 [DAT](INFO): DAT read: Tx time:18:38:32.6770

2025-09-04T18:38:33.453Z,1757011113.453 [DAT](INFO): Ping request sent.
2025-09-04T18:38:33.454Z,1757011113.454 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:33.454Z,1757011113.454 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-09-04T18:38:33.455Z,1757011113.455 [DAT](INFO): direction in FSK: [0.775735,-0.574014,-0.262189]
2025-09-04T18:38:33.455Z,1757011113.455 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:33.455Z,1757011113.455 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:33.463Z,1757011113.463 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:33.463Z,1757011113.463 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:33.471Z,1757011113.471 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.017494
2025-09-04T18:38:33.535Z,1757011113.535 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Off dock, range to dock 8.100000 exceeded threshold.
2025-09-04T18:38:33.535Z,1757011113.535 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-09-04T18:38:33.698Z,1757011113.698 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.244277
2025-09-04T18:38:33.950Z,1757011113.950 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.496230
2025-09-04T18:38:34.201Z,1757011114.201 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.747493
2025-09-04T18:38:34.453Z,1757011114.453 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.999366
2025-09-04T18:38:34.705Z,1757011114.705 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.251348
2025-09-04T18:38:34.957Z,1757011114.957 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.503377
2025-09-04T18:38:35.209Z,1757011115.209 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.755704
2025-09-04T18:38:35.462Z,1757011115.462 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.008030
2025-09-04T18:38:35.713Z,1757011115.713 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.259378
2025-09-04T18:38:35.965Z,1757011115.965 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.511526
2025-09-04T18:38:36.217Z,1757011116.217 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.763571
2025-09-04T18:38:36.469Z,1757011116.469 [DAT](INFO): DAT read: Rx Time:18:38:35.0924

2025-09-04T18:38:36.470Z,1757011116.470 [DAT](INFO): Rx dataTimestamp_ set to:1757011116.469288
2025-09-04T18:38:36.471Z,1757011116.471 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.016837
2025-09-04T18:38:36.721Z,1757011116.721 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.267773
2025-09-04T18:38:36.983Z,1757011116.983 [DAT](INFO): DAT read: 18:38:35.0924 LVL= 27216, 30561, 19058, 30243, AGC= 49, IDX= 432, 0.48,-2.991, 2.726,-1.893,-3.074, PHS= 0.185,-0.438, 1.137, RAW= 186.9, -12.8, CAL= 187.4, -14.6, ROT= 322.6,  14.6

2025-09-04T18:38:36.984Z,1757011116.984 [DAT](INFO): got valid direction response:
 18:38:35.0924 LVL= 27216, 30561, 19058, 30243, AGC= 49, IDX= 432, 0.48,-2.991, 2.726,-1.893,-3.074, PHS= 0.185,-0.438, 1.137, RAW= 186.9, -12.8, CAL= 187.4, -14.6, ROT= 322.6,  14.6

2025-09-04T18:38:36.985Z,1757011116.985 [DAT](INFO): DAT read: Bearing 226.5, -42.5 (Local)

2025-09-04T18:38:36.985Z,1757011116.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.5, -42.5 (Local)

2025-09-04T18:38:36.987Z,1757011116.987 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m  (Round-trip  11.3 ms) speed -0.2 m/s

2025-09-04T18:38:36.987Z,1757011116.987 [DAT](INFO): DAT read: user:2942>

2025-09-04T18:38:37.013Z,1757011117.013 [DAT](INFO): DAT read: Tx time:18:38:36.1770

2025-09-04T18:38:37.014Z,1757011117.014 [DAT](INFO): Ping request sent.
2025-09-04T18:38:37.014Z,1757011117.014 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:37.015Z,1757011117.015 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-09-04T18:38:37.031Z,1757011117.031 [DAT](INFO): direction in FSK: [0.768762,-0.587763,-0.252069]
2025-09-04T18:38:37.045Z,1757011117.045 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:37.046Z,1757011117.046 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:37.063Z,1757011117.063 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:37.063Z,1757011117.063 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:37.078Z,1757011117.078 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.064512
2025-09-04T18:38:37.225Z,1757011117.225 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.211051
2025-09-04T18:38:37.478Z,1757011117.478 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.463649
2025-09-04T18:38:37.733Z,1757011117.733 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.718501
2025-09-04T18:38:37.981Z,1757011117.981 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.967082
2025-09-04T18:38:38.233Z,1757011118.233 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.218967
2025-09-04T18:38:38.486Z,1757011118.486 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.471752
2025-09-04T18:38:38.738Z,1757011118.738 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.723561
2025-09-04T18:38:39.000Z,1757011119.000 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.986531
2025-09-04T18:38:39.247Z,1757011119.247 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.232641
2025-09-04T18:38:39.498Z,1757011119.498 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.483443
2025-09-04T18:38:39.749Z,1757011119.749 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.735295
2025-09-04T18:38:40.001Z,1757011120.001 [DAT](INFO): DAT read: Rx Time:18:38:38.5930

2025-09-04T18:38:40.002Z,1757011120.002 [DAT](INFO): Rx dataTimestamp_ set to:1757011120.001307
2025-09-04T18:38:40.002Z,1757011120.002 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.988167
2025-09-04T18:38:40.257Z,1757011120.257 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=3.243224
2025-09-04T18:38:40.511Z,1757011120.511 [DAT](INFO): DAT read: 18:38:38.5930 LVL= 31552, 32753, 26050, 29043, AGC= 50, IDX= 438, 0.34, 0.128,-0.348, 1.257,-0.036, PHS= 0.266,-0.267, 1.249, RAW= 189.7, -18.3, CAL= 190.1, -19.8, ROT= 319.9,  19.8

2025-09-04T18:38:40.512Z,1757011120.512 [DAT](INFO): got valid direction response:
 18:38:38.5930 LVL= 31552, 32753, 26050, 29043, AGC= 50, IDX= 438, 0.34, 0.128,-0.348, 1.257,-0.036, PHS= 0.266,-0.267, 1.249, RAW= 189.7, -18.3, CAL= 190.1, -19.8, ROT= 319.9,  19.8

2025-09-04T18:38:40.513Z,1757011120.513 [DAT](INFO): DAT read: Bearing 221.9, -41.5 (Local)

2025-09-04T18:38:40.514Z,1757011120.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.9, -41.5 (Local)

2025-09-04T18:38:40.515Z,1757011120.515 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m  (Round-trip  11.9 ms) speed -0.1 m/s

2025-09-04T18:38:40.516Z,1757011120.516 [DAT](INFO): DAT read: user:2943>

2025-09-04T18:38:40.517Z,1757011120.517 [DAT](INFO): DAT read: Tx time:18:38:39.6770

2025-09-04T18:38:40.517Z,1757011120.517 [DAT](INFO): Ping request sent.
2025-09-04T18:38:40.517Z,1757011120.517 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:40.517Z,1757011120.517 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-09-04T18:38:40.518Z,1757011120.518 [DAT](INFO): direction in FSK: [0.719700,-0.606044,-0.338738]
2025-09-04T18:38:40.518Z,1757011120.518 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:40.519Z,1757011120.519 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:40.522Z,1757011120.522 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:40.522Z,1757011120.522 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:40.542Z,1757011120.542 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.025344
2025-09-04T18:38:40.757Z,1757011120.757 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.240036
2025-09-04T18:38:41.009Z,1757011121.009 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.492074
2025-09-04T18:38:41.261Z,1757011121.261 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.744343
2025-09-04T18:38:41.513Z,1757011121.513 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.996107
2025-09-04T18:38:41.766Z,1757011121.766 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.249358
2025-09-04T18:38:42.017Z,1757011122.017 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.500178
2025-09-04T18:38:42.269Z,1757011122.269 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.752097
2025-09-04T18:38:42.521Z,1757011122.521 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.004031
2025-09-04T18:38:42.773Z,1757011122.773 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.256290
2025-09-04T18:38:43.025Z,1757011123.025 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.508098
2025-09-04T18:38:43.277Z,1757011123.277 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.760169
2025-09-04T18:38:43.529Z,1757011123.529 [DAT](INFO): DAT read: Rx Time:18:38:42.0937

2025-09-04T18:38:43.530Z,1757011123.530 [DAT](INFO): Rx dataTimestamp_ set to:1757011123.529223
2025-09-04T18:38:43.530Z,1757011123.530 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.013126
2025-09-04T18:38:43.781Z,1757011123.781 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.264254
2025-09-04T18:38:44.039Z,1757011124.039 [DAT](INFO): DAT read: 18:38:42.0937 LVL= 32752, 32753, 22354, 32755, AGC= 50, IDX= 429,-0.38, 0.331,-0.011, 1.454, 0.151, PHS= 0.282,-0.117, 1.259, RAW= 193.6, -22.3, CAL= 193.5, -24.4, ROT= 316.5,  24.4

2025-09-04T18:38:44.040Z,1757011124.040 [DAT](INFO): got valid direction response:
 18:38:42.0937 LVL= 32752, 32753, 22354, 32755, AGC= 50, IDX= 429,-0.38, 0.331,-0.011, 1.454, 0.151, PHS= 0.282,-0.117, 1.259, RAW= 193.6, -22.3, CAL= 193.5, -24.4, ROT= 316.5,  24.4

2025-09-04T18:38:44.041Z,1757011124.041 [DAT](INFO): DAT read: Bearing 218.2, -39.0 (Local)

2025-09-04T18:38:44.041Z,1757011124.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.2, -39.0 (Local)

2025-09-04T18:38:44.043Z,1757011124.043 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m  (Round-trip  12.5 ms) speed -0.1 m/s

2025-09-04T18:38:44.044Z,1757011124.044 [DAT](INFO): DAT read: user:2944>

2025-09-04T18:38:44.045Z,1757011124.045 [DAT](INFO): DAT read: Tx time:18:38:43.2270

2025-09-04T18:38:44.045Z,1757011124.045 [DAT](INFO): Ping request sent.
2025-09-04T18:38:44.045Z,1757011124.045 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:44.045Z,1757011124.045 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-09-04T18:38:44.046Z,1757011124.046 [DAT](INFO): direction in FSK: [0.660587,-0.626873,-0.413104]
2025-09-04T18:38:44.046Z,1757011124.046 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:44.059Z,1757011124.059 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:44.062Z,1757011124.062 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:44.062Z,1757011124.062 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:44.086Z,1757011124.086 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.040930
2025-09-04T18:38:44.285Z,1757011124.285 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.240184
2025-09-04T18:38:44.541Z,1757011124.541 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.495606
2025-09-04T18:38:44.789Z,1757011124.789 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.743957
2025-09-04T18:38:45.042Z,1757011125.042 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.996740
2025-09-04T18:38:45.293Z,1757011125.293 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.248128
2025-09-04T18:38:45.546Z,1757011125.546 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.500697
2025-09-04T18:38:45.813Z,1757011125.813 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.768062
2025-09-04T18:38:45.831Z,1757011125.831 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-09-04T18:38:45.832Z,1757011125.832 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-09-04T18:38:46.001Z,1757011126.001 [DockingStepper](INFO): Changing to mode: 4
2025-09-04T18:38:46.066Z,1757011126.066 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.021424
2025-09-04T18:38:46.317Z,1757011126.317 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.272069
2025-09-04T18:38:46.569Z,1757011126.569 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.524093
2025-09-04T18:38:46.822Z,1757011126.822 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.777125
2025-09-04T18:38:47.073Z,1757011127.073 [DAT](INFO): DAT read: Rx Time:18:38:45.6443

2025-09-04T18:38:47.073Z,1757011127.073 [DAT](INFO): Rx dataTimestamp_ set to:1757011127.073178
2025-09-04T18:38:47.074Z,1757011127.074 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.029060
2025-09-04T18:38:47.325Z,1757011127.325 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.280330
2025-09-04T18:38:47.586Z,1757011127.586 [DAT](INFO): DAT read: 18:38:45.6443 LVL= 31088, 32753, 23746, 31155, AGC= 50, IDX= 435, 0.40, 1.437, 1.278, 2.592, 1.328, PHS= 0.211,-0.005, 1.221, RAW= 200.5, -24.0, CAL= 200.0, -26.7, ROT= 310.0,  26.7

2025-09-04T18:38:47.588Z,1757011127.588 [DAT](INFO): got valid direction response:
 18:38:45.6443 LVL= 31088, 32753, 23746, 31155, AGC= 50, IDX= 435, 0.40, 1.437, 1.278, 2.592, 1.328, PHS= 0.211,-0.005, 1.221, RAW= 200.5, -24.0, CAL= 200.0, -26.7, ROT= 310.0,  26.7

2025-09-04T18:38:47.589Z,1757011127.589 [DAT](INFO): DAT read: Bearing 216.9, -39.5 (Local)

2025-09-04T18:38:47.590Z,1757011127.590 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.9, -39.5 (Local)

2025-09-04T18:38:47.591Z,1757011127.591 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m  (Round-trip  13.2 ms) speed -0.1 m/s

2025-09-04T18:38:47.592Z,1757011127.592 [DAT](INFO): DAT read: user:2945>

2025-09-04T18:38:47.593Z,1757011127.593 [DAT](INFO): DAT read: Tx time:18:38:46.7769

2025-09-04T18:38:47.593Z,1757011127.593 [DAT](INFO): Ping request sent.
2025-09-04T18:38:47.593Z,1757011127.593 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:47.593Z,1757011127.593 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-09-04T18:38:47.594Z,1757011127.594 [DAT](INFO): direction in FSK: [0.574248,-0.684362,-0.449319]
2025-09-04T18:38:47.594Z,1757011127.594 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:47.595Z,1757011127.595 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:47.603Z,1757011127.603 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:47.603Z,1757011127.603 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:47.606Z,1757011127.606 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.013391
2025-09-04T18:38:47.829Z,1757011127.829 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.235965
2025-09-04T18:38:48.081Z,1757011128.081 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.487976
2025-09-04T18:38:48.333Z,1757011128.333 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.740081
2025-09-04T18:38:48.585Z,1757011128.585 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.992023
2025-09-04T18:38:48.837Z,1757011128.837 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.244290
2025-09-04T18:38:49.089Z,1757011129.089 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.495989
2025-09-04T18:38:49.345Z,1757011129.345 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.751599
2025-09-04T18:38:49.414Z,1757011129.414 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     ,        +0.00,    0,  20.00,426.30
2025-09-04T18:38:49.596Z,1757011129.596 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.002866
2025-09-04T18:38:49.849Z,1757011129.849 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.256117
2025-09-04T18:38:50.101Z,1757011130.101 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.508005
2025-09-04T18:38:50.354Z,1757011130.354 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.760689
2025-09-04T18:38:50.605Z,1757011130.605 [DAT](INFO): DAT read: Rx Time:18:38:49.1949

2025-09-04T18:38:50.606Z,1757011130.606 [DAT](INFO): Rx dataTimestamp_ set to:1757011130.605365
2025-09-04T18:38:50.606Z,1757011130.606 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=3.013199
2025-09-04T18:38:50.859Z,1757011130.859 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=3.265264
2025-09-04T18:38:51.111Z,1757011131.111 [DAT](INFO): DAT read: Range 11 to 50 : 10.3 m  (Round-trip  13.8 ms) speed -0.1 m/s

2025-09-04T18:38:51.112Z,1757011131.112 [DAT](INFO): DAT read: user:2946>

2025-09-04T18:38:51.113Z,1757011131.113 [DAT](INFO): DAT read: Tx time:18:38:50.2769

2025-09-04T18:38:51.113Z,1757011131.113 [DAT](INFO): Ping request sent.
2025-09-04T18:38:51.113Z,1757011131.113 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:51.114Z,1757011131.114 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-09-04T18:38:51.114Z,1757011131.114 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:51.115Z,1757011131.115 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:51.116Z,1757011131.116 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.002948
2025-09-04T18:38:51.362Z,1757011131.362 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.248394
2025-09-04T18:38:51.613Z,1757011131.613 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.499964
2025-09-04T18:38:51.866Z,1757011131.866 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.752529
2025-09-04T18:38:52.117Z,1757011132.117 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.003736
2025-09-04T18:38:52.370Z,1757011132.370 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.256231
2025-09-04T18:38:52.621Z,1757011132.621 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.507716
2025-09-04T18:38:52.874Z,1757011132.874 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.760413
2025-09-04T18:38:53.126Z,1757011133.126 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.012731
2025-09-04T18:38:53.378Z,1757011133.378 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.264370
2025-09-04T18:38:53.629Z,1757011133.629 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.515786
2025-09-04T18:38:53.881Z,1757011133.881 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.767722
2025-09-04T18:38:54.133Z,1757011134.133 [DAT](INFO): DAT read: Rx Time:18:38:52.6953

2025-09-04T18:38:54.134Z,1757011134.134 [DAT](INFO): Rx dataTimestamp_ set to:1757011134.133462
2025-09-04T18:38:54.134Z,1757011134.134 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=3.020908
2025-09-04T18:38:54.385Z,1757011134.385 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=3.271880
2025-09-04T18:38:54.642Z,1757011134.642 [DAT](INFO): DAT read: 18:38:52.6953 LVL= 26864, 26097, 27458, 26691, AGC= 51, IDX= 429, 0.45, 0.462, 0.466, 1.715, 0.481, PHS= 0.083, 0.030, 1.190, RAW= 207.7, -22.1, CAL= 207.0, -25.6, ROT= 303.0,  25.6

2025-09-04T18:38:54.643Z,1757011134.643 [DAT](INFO): got valid direction response:
 18:38:52.6953 LVL= 26864, 26097, 27458, 26691, AGC= 51, IDX= 429, 0.45, 0.462, 0.466, 1.715, 0.481, PHS= 0.083, 0.030, 1.190, RAW= 207.7, -22.1, CAL= 207.0, -25.6, ROT= 303.0,  25.6

2025-09-04T18:38:54.645Z,1757011134.645 [DAT](INFO): DAT read: Bearing 218.3, -46.1 (Local)

2025-09-04T18:38:54.645Z,1757011134.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.3, -46.1 (Local)

2025-09-04T18:38:54.646Z,1757011134.646 [DAT](INFO): DAT read: Range 11 to 50 : 10.6 m  (Round-trip  14.2 ms) speed -0.1 m/s

2025-09-04T18:38:54.647Z,1757011134.647 [DAT](INFO): DAT read: user:2947>

2025-09-04T18:38:54.648Z,1757011134.648 [DAT](INFO): DAT read: Tx time:18:38:53.8269

2025-09-04T18:38:54.648Z,1757011134.648 [DAT](INFO): Ping request sent.
2025-09-04T18:38:54.648Z,1757011134.648 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:54.648Z,1757011134.648 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-09-04T18:38:54.649Z,1757011134.649 [DAT](INFO): direction in FSK: [0.491173,-0.756340,-0.432086]
2025-09-04T18:38:54.650Z,1757011134.650 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:54.650Z,1757011134.650 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:54.653Z,1757011134.653 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:54.653Z,1757011134.653 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:54.657Z,1757011134.657 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.008850
2025-09-04T18:38:54.894Z,1757011134.894 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.245450
2025-09-04T18:38:55.147Z,1757011135.147 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.498774
2025-09-04T18:38:55.397Z,1757011135.397 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.748803
2025-09-04T18:38:55.650Z,1757011135.650 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.001747
2025-09-04T18:38:55.901Z,1757011135.901 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.252996
2025-09-04T18:38:56.153Z,1757011136.153 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.505010
2025-09-04T18:38:56.405Z,1757011136.405 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.757230
2025-09-04T18:38:56.657Z,1757011136.657 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.008878
2025-09-04T18:38:56.909Z,1757011136.909 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.260764
2025-09-04T18:38:57.162Z,1757011137.162 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.513232
2025-09-04T18:38:57.413Z,1757011137.413 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.764775
2025-09-04T18:38:57.665Z,1757011137.665 [DAT](INFO): DAT read: Rx Time:18:38:56.2456

2025-09-04T18:38:57.665Z,1757011137.665 [DAT](INFO): Rx dataTimestamp_ set to:1757011137.665138
2025-09-04T18:38:57.666Z,1757011137.666 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=3.017800
2025-09-04T18:38:57.917Z,1757011137.917 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=3.268953
2025-09-04T18:38:58.179Z,1757011138.179 [DAT](INFO): DAT read: 18:38:56.2456 LVL= 27632, 30129, 19442, 28995, AGC= 51, IDX= 433, 0.18, 1.809, 1.688, 3.043, 1.760, PHS= 0.152,-0.026, 1.240, RAW= 202.5, -22.1, CAL= 202.0, -25.1, ROT= 308.0,  25.1

2025-09-04T18:38:58.180Z,1757011138.180 [DAT](INFO): got valid direction response:
 18:38:56.2456 LVL= 27632, 30129, 19442, 28995, AGC= 51, IDX= 433, 0.18, 1.809, 1.688, 3.043, 1.760, PHS= 0.152,-0.026, 1.240, RAW= 202.5, -22.1, CAL= 202.0, -25.1, ROT= 308.0,  25.1

2025-09-04T18:38:58.185Z,1757011138.185 [DAT](INFO): DAT read: Bearing 218.9, -45.9 (Local)

2025-09-04T18:38:58.185Z,1757011138.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.9, -45.9 (Local)

2025-09-04T18:38:58.187Z,1757011138.187 [DAT](INFO): DAT read: Range 11 to 50 : 10.9 m  (Round-trip  14.6 ms) speed  0.0 m/s

2025-09-04T18:38:58.187Z,1757011138.187 [DAT](INFO): DAT read: user:2948>

2025-09-04T18:38:58.192Z,1757011138.192 [DAT](INFO): DAT read: Tx time:18:38:57.3768

2025-09-04T18:38:58.193Z,1757011138.193 [DAT](INFO): Ping request sent.
2025-09-04T18:38:58.193Z,1757011138.193 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:38:58.193Z,1757011138.193 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-09-04T18:38:58.194Z,1757011138.194 [DAT](INFO): direction in FSK: [0.557524,-0.713598,-0.424199]
2025-09-04T18:38:58.194Z,1757011138.194 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:58.194Z,1757011138.194 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:58.222Z,1757011138.222 [DAT](INFO): publishing transmit ping time
2025-09-04T18:38:58.223Z,1757011138.223 [DAT](INFO): publishing direction and range info
2025-09-04T18:38:58.230Z,1757011138.230 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.037513
2025-09-04T18:38:58.425Z,1757011138.425 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.232448
2025-09-04T18:38:58.679Z,1757011138.679 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.486185
2025-09-04T18:38:58.929Z,1757011138.929 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.736396
2025-09-04T18:38:59.181Z,1757011139.181 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.988599
2025-09-04T18:38:59.433Z,1757011139.433 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.240261
2025-09-04T18:38:59.685Z,1757011139.685 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.492283
2025-09-04T18:38:59.937Z,1757011139.937 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.744244
2025-09-04T18:39:00.189Z,1757011140.189 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.996285
2025-09-04T18:39:00.441Z,1757011140.441 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.248355
2025-09-04T18:39:00.693Z,1757011140.693 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.500245
2025-09-04T18:39:00.945Z,1757011140.945 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.752379
2025-09-04T18:39:01.197Z,1757011141.197 [DAT](INFO): DAT read: Rx Time:18:38:59.7958

2025-09-04T18:39:01.198Z,1757011141.198 [DAT](INFO): Rx dataTimestamp_ set to:1757011141.197256
2025-09-04T18:39:01.198Z,1757011141.198 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=3.005390
2025-09-04T18:39:01.449Z,1757011141.449 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=3.256535
2025-09-04T18:39:01.637Z,1757011141.637 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,   4.08,   4.33
2025-09-04T18:39:01.707Z,1757011141.707 [DAT](INFO): DAT read: 18:38:59.7958 LVL= 32016, 32753, 20882, 32755, AGC= 56, IDX= 436, 0.12,-0.343,-0.669, 0.907,-0.358, PHS= 0.118,-0.266, 1.221, RAW= 195.6, -15.8, CAL= 195.5, -18.1, ROT= 314.5,  18.1

2025-09-04T18:39:01.708Z,1757011141.708 [DAT](INFO): got valid direction response:
 18:38:59.7958 LVL= 32016, 32753, 20882, 32755, AGC= 56, IDX= 436, 0.12,-0.343,-0.669, 0.907,-0.358, PHS= 0.118,-0.266, 1.221, RAW= 195.6, -15.8, CAL= 195.5, -18.1, ROT= 314.5,  18.1

2025-09-04T18:39:01.709Z,1757011141.709 [DAT](INFO): DAT read: Bearing 228.4, -47.3 (Local)

2025-09-04T18:39:01.709Z,1757011141.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.4, -47.3 (Local)

2025-09-04T18:39:01.711Z,1757011141.711 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m  (Round-trip  14.8 ms) speed -0.1 m/s

2025-09-04T18:39:01.711Z,1757011141.711 [DAT](INFO): DAT read: user:2949>

2025-09-04T18:39:01.712Z,1757011141.712 [DAT](INFO): DAT read: Tx time:18:39:00.9268

2025-09-04T18:39:01.713Z,1757011141.713 [DAT](INFO): Ping request sent.
2025-09-04T18:39:01.713Z,1757011141.713 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:39:01.713Z,1757011141.713 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-09-04T18:39:01.714Z,1757011141.714 [DAT](INFO): direction in FSK: [0.666225,-0.677956,-0.310676]
2025-09-04T18:39:01.714Z,1757011141.714 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:01.714Z,1757011141.714 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:01.718Z,1757011141.718 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:01.718Z,1757011141.718 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:01.721Z,1757011141.721 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.008785
2025-09-04T18:39:01.953Z,1757011141.953 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.240633
2025-09-04T18:39:02.205Z,1757011142.205 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.492592
2025-09-04T18:39:02.457Z,1757011142.457 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.744400
2025-09-04T18:39:02.709Z,1757011142.709 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.996504
2025-09-04T18:39:02.961Z,1757011142.961 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.248265
2025-09-04T18:39:03.213Z,1757011143.213 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.500683
2025-09-04T18:39:03.466Z,1757011143.466 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.752979
2025-09-04T18:39:03.694Z,1757011143.694 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-09-04T18:39:03.695Z,1757011143.695 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-09-04T18:39:03.695Z,1757011143.695 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-09-04T18:39:03.695Z,1757011143.695 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-09-04T18:39:03.695Z,1757011143.695 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-09-04T18:39:03.717Z,1757011143.717 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.004427
2025-09-04T18:39:03.749Z,1757011143.749 [DockingStepper](INFO): Changing to mode: 2
2025-09-04T18:39:03.969Z,1757011143.969 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.256264
2025-09-04T18:39:04.057Z,1757011144.057 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-09-04T18:39:04.057Z,1757011144.057 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-09-04T18:39:04.058Z,1757011144.058 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-09-04T18:39:04.058Z,1757011144.058 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-09-04T18:39:04.058Z,1757011144.058 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-09-04T18:39:04.058Z,1757011144.058 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-09-04T18:39:04.222Z,1757011144.222 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.508964
2025-09-04T18:39:04.476Z,1757011144.476 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.762720
2025-09-04T18:39:04.538Z,1757011144.538 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-09-04T18:39:04.538Z,1757011144.538 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-09-04T18:39:04.538Z,1757011144.538 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-09-04T18:39:04.538Z,1757011144.538 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-09-04T18:39:04.538Z,1757011144.538 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-09-04T18:39:04.539Z,1757011144.539 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-09-04T18:39:04.539Z,1757011144.539 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-09-04T18:39:04.539Z,1757011144.539 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-09-04T18:39:04.539Z,1757011144.539 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-09-04T18:39:04.539Z,1757011144.539 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-09-04T18:39:04.727Z,1757011144.727 [DAT](INFO): DAT read: Rx Time:18:39:03.3461

2025-09-04T18:39:04.727Z,1757011144.727 [DAT](INFO): Rx dataTimestamp_ set to:1757011144.726724
2025-09-04T18:39:04.728Z,1757011144.728 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=3.015189
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-04T18:39:04.867Z,1757011144.867 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-09-04T18:39:04.868Z,1757011144.868 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-09-04T18:39:04.868Z,1757011144.868 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-09-04T18:39:04.868Z,1757011144.868 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-09-04T18:39:04.868Z,1757011144.868 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-09-04T18:39:04.868Z,1757011144.868 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-09-04T18:39:04.868Z,1757011144.868 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-09-04T18:39:04.978Z,1757011144.978 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=3.264990
2025-09-04T18:39:05.235Z,1757011145.235 [DAT](INFO): DAT read: 18:39:03.3461 LVL= 32752, 32753, 22658, 32755, AGC= 52, IDX= 425,-0.25,-2.147,-2.500,-0.788,-1.783, PHS=-0.262,-0.672, 0.951, RAW= 195.9,  -0.3, CAL= 196.0,  -2.8, ROT= 314.0,   2.8

2025-09-04T18:39:05.236Z,1757011145.236 [DAT](INFO): got valid direction response:
 18:39:03.3461 LVL= 32752, 32753, 22658, 32755, AGC= 52, IDX= 425,-0.25,-2.147,-2.500,-0.788,-1.783, PHS=-0.262,-0.672, 0.951, RAW= 195.9,  -0.3, CAL= 196.0,  -2.8, ROT= 314.0,   2.8

2025-09-04T18:39:05.237Z,1757011145.237 [DAT](INFO): DAT read: Bearing 262.7, -51.0 (Local)

2025-09-04T18:39:05.237Z,1757011145.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.7, -51.0 (Local)

2025-09-04T18:39:05.239Z,1757011145.239 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m  (Round-trip  15.2 ms) speed  0.0 m/s

2025-09-04T18:39:05.239Z,1757011145.239 [DAT](INFO): DAT read: user:2950>

2025-09-04T18:39:05.240Z,1757011145.240 [DAT](INFO): DAT read: Tx time:18:39:04.4768

2025-09-04T18:39:05.240Z,1757011145.240 [DAT](INFO): Ping request sent.
2025-09-04T18:39:05.241Z,1757011145.241 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:39:05.241Z,1757011145.241 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-09-04T18:39:05.242Z,1757011145.242 [DAT](INFO): direction in FSK: [0.693829,-0.718481,-0.048850]
2025-09-04T18:39:05.242Z,1757011145.242 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:05.242Z,1757011145.242 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:05.254Z,1757011145.254 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:05.254Z,1757011145.254 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:05.257Z,1757011145.257 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.016715
2025-09-04T18:39:05.349Z,1757011145.349 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-09-04T18:39:05.350Z,1757011145.350 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-09-04T18:39:05.351Z,1757011145.351 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-09-04T18:39:05.351Z,1757011145.351 [lineCaptureHoming:Lap:Docked] Stopped
2025-09-04T18:39:05.351Z,1757011145.351 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-09-04T18:39:05.351Z,1757011145.351 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-09-04T18:39:05.351Z,1757011145.351 [lineCaptureHoming:Lap] Stopped
2025-09-04T18:39:05.351Z,1757011145.351 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-09-04T18:39:05.397Z,1757011145.397 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-09-04T18:39:05.398Z,1757011145.398 [MissionManager](INFO): lineCaptureHoming is completed.
2025-09-04T18:39:05.398Z,1757011145.398 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-09-04T18:39:05.398Z,1757011145.398 [lineCaptureHoming] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science:B] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science:C] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science:E] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-09-04T18:39:05.399Z,1757011145.399 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-04T18:39:05.400Z,1757011145.400 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-04T18:39:05.400Z,1757011145.400 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-04T18:39:05.408Z,1757011145.408 [WetLabsBB2FL](INFO): Powering down
2025-09-04T18:39:05.400Z,1757011145.400 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-04T18:39:05.411Z,1757011145.411 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-04T18:39:05.411Z,1757011145.411 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-04T18:39:05.412Z,1757011145.412 [lineCaptureHoming:MicromodemComms] Stopped
2025-09-04T18:39:05.421Z,1757011145.421 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-09-04T18:39:05.421Z,1757011145.421 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-09-04T18:39:05.421Z,1757011145.421 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:39:05.421Z,1757011145.421 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-09-04T18:39:05.422Z,1757011145.422 [lineCaptureHoming:TrackAC.] Stopped
2025-09-04T18:39:05.422Z,1757011145.422 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-09-04T18:39:05.482Z,1757011145.482 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.241721
2025-09-04T18:39:05.733Z,1757011145.733 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.492627
2025-09-04T18:39:05.961Z,1757011145.961 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-09-04T18:39:05.961Z,1757011145.961 [DefaultWithUndock] Running Loop=1
2025-09-04T18:39:05.961Z,1757011145.961 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-09-04T18:39:05.962Z,1757011145.962 [DefaultWithUndock:A.Wait] Running Loop=1
2025-09-04T18:39:05.962Z,1757011145.962 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-09-04T18:39:05.987Z,1757011145.987 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.744823
2025-09-04T18:39:06.237Z,1757011146.237 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.996627
2025-09-04T18:39:06.495Z,1757011146.495 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.251186
2025-09-04T18:39:06.742Z,1757011146.742 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.501224
2025-09-04T18:39:06.993Z,1757011146.993 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.752646
2025-09-04T18:39:07.245Z,1757011147.245 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.004414
2025-09-04T18:39:07.499Z,1757011147.499 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.258515
2025-09-04T18:39:07.749Z,1757011147.749 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.508377
2025-09-04T18:39:08.001Z,1757011148.001 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.760482
2025-09-04T18:39:08.253Z,1757011148.253 [DAT](INFO): DAT read: Rx Time:18:39:06.8965

2025-09-04T18:39:08.253Z,1757011148.253 [DAT](INFO): Rx dataTimestamp_ set to:1757011148.253155
2025-09-04T18:39:08.254Z,1757011148.254 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.013381
2025-09-04T18:39:08.508Z,1757011148.508 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.266550
2025-09-04T18:39:08.763Z,1757011148.763 [DAT](INFO): DAT read: 18:39:06.8965 LVL= 24656, 26817, 19570, 26451, AGC= 50, IDX= 444, 0.08,-1.458,-1.436,-0.180,-1.432, PHS= 0.076, 0.041, 1.208, RAW= 208.5, -22.2, CAL= 207.8, -25.7, ROT= 302.2,  25.7

2025-09-04T18:39:08.764Z,1757011148.764 [DAT](INFO): got valid direction response:
 18:39:06.8965 LVL= 24656, 26817, 19570, 26451, AGC= 50, IDX= 444, 0.08,-1.458,-1.436,-0.180,-1.432, PHS= 0.076, 0.041, 1.208, RAW= 208.5, -22.2, CAL= 207.8, -25.7, ROT= 302.2,  25.7

2025-09-04T18:39:08.765Z,1757011148.765 [DAT](INFO): DAT read: Bearing 214.3, -51.8 (Local)

2025-09-04T18:39:08.765Z,1757011148.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.3, -51.8 (Local)

2025-09-04T18:39:08.767Z,1757011148.767 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m  (Round-trip  15.6 ms) speed -0.1 m/s

2025-09-04T18:39:08.768Z,1757011148.768 [DAT](INFO): DAT read: user:2951>

2025-09-04T18:39:08.768Z,1757011148.768 [DAT](INFO): DAT read: Tx time:18:39:08.0268

2025-09-04T18:39:08.769Z,1757011148.769 [DAT](INFO): Ping request sent.
2025-09-04T18:39:08.769Z,1757011148.769 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:39:08.769Z,1757011148.769 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-09-04T18:39:08.770Z,1757011148.770 [DAT](INFO): direction in FSK: [0.480163,-0.762485,-0.433659]
2025-09-04T18:39:08.770Z,1757011148.770 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:08.770Z,1757011148.770 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:08.774Z,1757011148.774 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:08.774Z,1757011148.774 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:08.778Z,1757011148.778 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.008849
2025-09-04T18:39:09.009Z,1757011149.009 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.240462
2025-09-04T18:39:09.261Z,1757011149.261 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.492407
2025-09-04T18:39:09.515Z,1757011149.515 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.746220
2025-09-04T18:39:09.767Z,1757011149.767 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.997881
2025-09-04T18:39:10.018Z,1757011150.018 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.248753
2025-09-04T18:39:10.269Z,1757011150.269 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.500278
2025-09-04T18:39:10.524Z,1757011150.524 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.754743
2025-09-04T18:39:10.774Z,1757011150.774 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.005222
2025-09-04T18:39:11.025Z,1757011151.025 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.256549
2025-09-04T18:39:11.277Z,1757011151.277 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.508186
2025-09-04T18:39:11.531Z,1757011151.531 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.761969
2025-09-04T18:39:11.781Z,1757011151.781 [DAT](INFO): DAT read: Rx Time:18:39:10.4466

2025-09-04T18:39:11.782Z,1757011151.782 [DAT](INFO): Rx dataTimestamp_ set to:1757011151.781278
2025-09-04T18:39:11.782Z,1757011151.782 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=3.013352
2025-09-04T18:39:12.038Z,1757011152.038 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=3.268899
2025-09-04T18:39:12.295Z,1757011152.295 [DAT](INFO): DAT read: 18:39:10.4466 LVL= 32224, 32753, 29890, 31363, AGC= 53, IDX= 430, 0.18, 0.012, 0.189, 1.431, 0.156, PHS=-0.042, 0.078, 1.232, RAW= 214.9, -20.2, CAL= 214.2, -24.7, ROT= 295.8,  24.7

2025-09-04T18:39:12.296Z,1757011152.296 [DAT](INFO): got valid direction response:
 18:39:10.4466 LVL= 32224, 32753, 29890, 31363, AGC= 53, IDX= 430, 0.18, 0.012, 0.189, 1.431, 0.156, PHS=-0.042, 0.078, 1.232, RAW= 214.9, -20.2, CAL= 214.2, -24.7, ROT= 295.8,  24.7

2025-09-04T18:39:12.297Z,1757011152.297 [DAT](INFO): DAT read: Bearing 220.6, -58.4 (Local)

2025-09-04T18:39:12.297Z,1757011152.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6, -58.4 (Local)

2025-09-04T18:39:12.299Z,1757011152.299 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m  (Round-trip  15.8 ms) speed  0.0 m/s

2025-09-04T18:39:12.300Z,1757011152.300 [DAT](INFO): DAT read: user:2952>

2025-09-04T18:39:12.317Z,1757011152.317 [DAT](INFO): DAT read: Tx time:18:39:11.5767

2025-09-04T18:39:12.317Z,1757011152.317 [DAT](INFO): Ping request sent.
2025-09-04T18:39:12.317Z,1757011152.317 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:39:12.317Z,1757011152.317 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-09-04T18:39:12.318Z,1757011152.318 [DAT](INFO): direction in FSK: [0.395411,-0.817947,-0.417867]
2025-09-04T18:39:12.318Z,1757011152.318 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:12.319Z,1757011152.319 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:12.322Z,1757011152.322 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:12.322Z,1757011152.322 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:12.358Z,1757011152.358 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.040707
2025-09-04T18:39:12.544Z,1757011152.544 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.226210
2025-09-04T18:39:12.793Z,1757011152.793 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.476056
2025-09-04T18:39:13.045Z,1757011153.045 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.728012
2025-09-04T18:39:13.298Z,1757011153.298 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.980593
2025-09-04T18:39:13.555Z,1757011153.555 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.237948
2025-09-04T18:39:13.805Z,1757011153.805 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.488095
2025-09-04T18:39:14.057Z,1757011154.057 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.740463
2025-09-04T18:39:14.309Z,1757011154.309 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.991978
2025-09-04T18:39:14.564Z,1757011154.564 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.246560
2025-09-04T18:39:14.813Z,1757011154.813 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.496123
2025-09-04T18:39:15.065Z,1757011155.065 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.747952
2025-09-04T18:39:15.317Z,1757011155.317 [DAT](INFO): DAT read: Rx Time:18:39:13.9967

2025-09-04T18:39:15.318Z,1757011155.318 [DAT](INFO): Rx dataTimestamp_ set to:1757011155.317473
2025-09-04T18:39:15.318Z,1757011155.318 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=3.001312
2025-09-04T18:39:15.572Z,1757011155.572 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=3.254111
2025-09-04T18:39:15.829Z,1757011155.829 [DAT](INFO): DAT read: 18:39:13.9967 LVL= 32752, 32753, 25490, 32755, AGC= 59, IDX= 447,-0.33,-0.112, 0.088, 1.373, 0.137, PHS=-0.147,-0.004, 1.192, RAW= 215.6, -16.1, CAL= 214.8, -21.3, ROT= 295.2,  21.3

2025-09-04T18:39:15.831Z,1757011155.831 [DAT](INFO): got valid direction response:
 18:39:13.9967 LVL= 32752, 32753, 25490, 32755, AGC= 59, IDX= 447,-0.33,-0.112, 0.088, 1.373, 0.137, PHS=-0.147,-0.004, 1.192, RAW= 215.6, -16.1, CAL= 214.8, -21.3, ROT= 295.2,  21.3

2025-09-04T18:39:15.831Z,1757011155.831 [DAT](INFO): DAT read: Bearing 232.5, -62.8 (Local)

2025-09-04T18:39:15.832Z,1757011155.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.5, -62.8 (Local)

2025-09-04T18:39:15.833Z,1757011155.833 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m  (Round-trip  15.9 ms) speed  0.0 m/s

2025-09-04T18:39:15.834Z,1757011155.834 [DAT](INFO): DAT read: user:2953>

2025-09-04T18:39:15.835Z,1757011155.835 [DAT](INFO): DAT read: Tx time:18:39:15.1267

2025-09-04T18:39:15.835Z,1757011155.835 [DAT](INFO): Ping request sent.
2025-09-04T18:39:15.835Z,1757011155.835 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:39:15.835Z,1757011155.835 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-09-04T18:39:15.837Z,1757011155.837 [DAT](INFO): direction in FSK: [0.396695,-0.843019,-0.363251]
2025-09-04T18:39:15.837Z,1757011155.837 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:15.837Z,1757011155.837 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:15.841Z,1757011155.841 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:15.841Z,1757011155.841 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:15.844Z,1757011155.844 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.009024
2025-09-04T18:39:16.073Z,1757011156.073 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.238353
2025-09-04T18:39:16.325Z,1757011156.325 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.490373
2025-09-04T18:39:16.579Z,1757011156.579 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.743882
2025-09-04T18:39:16.829Z,1757011156.829 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.994248
2025-09-04T18:39:17.081Z,1757011157.081 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.245912
2025-09-04T18:39:17.333Z,1757011157.333 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.497885
2025-09-04T18:39:17.585Z,1757011157.585 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.750023
2025-09-04T18:39:17.837Z,1757011157.837 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.001915
2025-09-04T18:39:18.090Z,1757011158.090 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.254449
2025-09-04T18:39:18.341Z,1757011158.341 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.506150
2025-09-04T18:39:18.593Z,1757011158.593 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.757924
2025-09-04T18:39:18.845Z,1757011158.845 [DAT](INFO): DAT read: Rx Time:18:39:17.5468

2025-09-04T18:39:18.846Z,1757011158.846 [DAT](INFO): Rx dataTimestamp_ set to:1757011158.845263
2025-09-04T18:39:18.846Z,1757011158.846 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=3.010986
2025-09-04T18:39:19.097Z,1757011159.097 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=3.262054
2025-09-04T18:39:19.365Z,1757011159.365 [DAT](INFO): DAT read: 18:39:17.5468 LVL= 32752, 32753, 27186, 32755, AGC= 55, IDX= 448,-0.13,-1.707,-1.404,-0.162,-1.426, PHS=-0.178, 0.067, 1.220, RAW= 219.5, -16.9, CAL= 218.8, -22.4, ROT= 291.2,  22.4

2025-09-04T18:39:19.367Z,1757011159.367 [DAT](INFO): got valid direction response:
 18:39:17.5468 LVL= 32752, 32753, 27186, 32755, AGC= 55, IDX= 448,-0.13,-1.707,-1.404,-0.162,-1.426, PHS=-0.178, 0.067, 1.220, RAW= 219.5, -16.9, CAL= 218.8, -22.4, ROT= 291.2,  22.4

2025-09-04T18:39:19.369Z,1757011159.369 [DAT](INFO): DAT read: Bearing 225.2, -65.3 (Local)

2025-09-04T18:39:19.369Z,1757011159.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.2, -65.3 (Local)

2025-09-04T18:39:19.374Z,1757011159.374 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m  (Round-trip  16.0 ms) speed -0.1 m/s

2025-09-04T18:39:19.386Z,1757011159.386 [DAT](INFO): DAT read: user:2954>

2025-09-04T18:39:19.386Z,1757011159.386 [DAT](INFO): DAT read: Tx time:18:39:18.6767

2025-09-04T18:39:19.387Z,1757011159.387 [DAT](INFO): Ping request sent.
2025-09-04T18:39:19.387Z,1757011159.387 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:39:19.387Z,1757011159.387 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-09-04T18:39:19.388Z,1757011159.388 [DAT](INFO): direction in FSK: [0.334339,-0.861976,-0.381070]
2025-09-04T18:39:19.389Z,1757011159.389 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:19.389Z,1757011159.389 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:19.392Z,1757011159.392 [DAT](INFO): publishing transmit ping time
2025-09-04T18:39:19.392Z,1757011159.392 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:19.395Z,1757011159.395 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.008525
2025-09-04T18:39:19.601Z,1757011159.601 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.214070
2025-09-04T18:39:19.854Z,1757011159.854 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.466638
2025-09-04T18:39:20.107Z,1757011160.107 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.719811
2025-09-04T18:39:20.357Z,1757011160.357 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.970067
2025-09-04T18:39:20.610Z,1757011160.610 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.222723
2025-09-04T18:39:20.861Z,1757011160.861 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.474221
2025-09-04T18:39:21.113Z,1757011161.113 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.726095
2025-09-04T18:39:21.365Z,1757011161.365 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.978172
2025-09-04T18:39:21.617Z,1757011161.617 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.230206
2025-09-04T18:39:21.869Z,1757011161.869 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.482078
2025-09-04T18:39:22.122Z,1757011162.122 [DAT](INFO): DAT read: Rx Time:18:39:20.8220 

2025-09-04T18:39:22.123Z,1757011162.123 [DAT](INFO): Rx dataTimestamp_ set to:1757011162.122390
2025-09-04T18:39:22.124Z,1757011162.124 [DAT](INFO): DAT read: Bearing 217.6, -65.9 (Local)

2025-09-04T18:39:22.124Z,1757011162.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.6, -65.9 (Local)

2025-09-04T18:39:22.126Z,1757011162.126 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:22.131Z,1757011162.131 [DAT](INFO): DAT read: 18:39:20.8220 LVL= 22176, 25073, 17362, 28499, AGC= 52, IDX= 178,-0.00, 0.957, 1.370, 2.643, 1.265, PHS=-0.206, 0.151, 1.334, RAW= 222.8, -17.9, CAL= 222.3, -23.6, ROT= 287.7,  23.6

2025-09-04T18:39:22.132Z,1757011162.132 [DAT](INFO): got valid direction response:
 18:39:20.8220 LVL= 22176, 25073, 17362, 28499, AGC= 52, IDX= 178,-0.00, 0.957, 1.370, 2.643, 1.265, PHS=-0.206, 0.151, 1.334, RAW= 222.8, -17.9, CAL= 222.3, -23.6, ROT= 287.7,  23.6

2025-09-04T18:39:22.133Z,1757011162.133 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-09-04T18:39:22.133Z,1757011162.133 [DAT](INFO): direction in FSK: [0.278605,-0.872983,-0.400349]
2025-09-04T18:39:22.134Z,1757011162.134 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:22.143Z,1757011162.143 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.755942
2025-09-04T18:39:22.373Z,1757011162.373 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.986134
2025-09-04T18:39:22.626Z,1757011162.626 [DAT](INFO): DAT read: Rx Time:18:39:21.3219 

2025-09-04T18:39:22.626Z,1757011162.626 [DAT](INFO): Rx dataTimestamp_ set to:1757011162.625898
2025-09-04T18:39:22.628Z,1757011162.628 [DAT](INFO): DAT read: Bearing 216.8, -66.3 (Local)

2025-09-04T18:39:22.628Z,1757011162.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.8, -66.3 (Local)

2025-09-04T18:39:22.630Z,1757011162.630 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-09-04T18:39:22.635Z,1757011162.635 [DAT](INFO): DAT read: 18:39:21.3219 LVL= 25280, 25841, 18066, 27123, AGC= 50, IDX= 497, 0.24, 1.649, 2.082,-2.925, 1.966, PHS=-0.214, 0.161, 1.349, RAW= 223.3, -18.0, CAL= 222.8, -23.6, ROT= 287.2,  23.6

2025-09-04T18:39:22.636Z,1757011162.636 [DAT](INFO): got valid direction response:
 18:39:21.3219 LVL= 25280, 25841, 18066, 27123, AGC= 50, IDX= 497, 0.24, 1.649, 2.082,-2.925, 1.966, PHS=-0.214, 0.161, 1.349, RAW= 223.3, -18.0, CAL= 222.8, -23.6, ROT= 287.2,  23.6

2025-09-04T18:39:22.636Z,1757011162.636 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-09-04T18:39:22.637Z,1757011162.637 [DAT](INFO): direction in FSK: [0.270976,-0.875381,-0.400349]
2025-09-04T18:39:22.637Z,1757011162.637 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:22.676Z,1757011162.676 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=3.280493
2025-09-04T18:39:22.877Z,1757011162.877 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=3.490501
2025-09-04T18:39:23.130Z,1757011163.130 [DAT](INFO): DAT read: Rx Time:18:39:21.8221 

2025-09-04T18:39:23.130Z,1757011163.130 [DAT](INFO): Rx dataTimestamp_ set to:1757011163.129956
2025-09-04T18:39:23.132Z,1757011163.132 [DAT](INFO): DAT read: Bearing 217.6, -66.5 (Local)

2025-09-04T18:39:23.132Z,1757011163.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.6, -66.5 (Local)

2025-09-04T18:39:23.134Z,1757011163.134 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-09-04T18:39:23.139Z,1757011163.139 [DAT](INFO): DAT read: 18:39:21.8221 LVL= 21808, 22417, 15826, 24563, AGC= 52, IDX=   3,-0.35, 1.038, 1.468, 2.745, 1.359, PHS=-0.219, 0.155, 1.342, RAW= 223.2, -17.7, CAL= 222.8, -23.5, ROT= 287.2,  23.5

2025-09-04T18:39:23.148Z,1757011163.148 [DAT](INFO): got valid direction response:
 18:39:21.8221 LVL= 21808, 22417, 15826, 24563, AGC= 52, IDX=   3,-0.35, 1.038, 1.468, 2.745, 1.359, PHS=-0.219, 0.155, 1.342, RAW= 223.2, -17.7, CAL= 222.8, -23.5, ROT= 287.2,  23.5

2025-09-04T18:39:23.149Z,1757011163.149 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-09-04T18:39:23.150Z,1757011163.150 [DAT](INFO): direction in FSK: [0.271182,-0.876048,-0.398749]
2025-09-04T18:39:23.150Z,1757011163.150 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:23.154Z,1757011163.154 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=3.766614
2025-09-04T18:39:23.381Z,1757011163.381 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=3.994096
2025-09-04T18:39:23.634Z,1757011163.634 [DAT](INFO): DAT read: Rx Time:18:39:22.3220 

2025-09-04T18:39:23.634Z,1757011163.634 [DAT](INFO): Rx dataTimestamp_ set to:1757011163.633834
2025-09-04T18:39:23.635Z,1757011163.635 [DAT](INFO): DAT read: Bearing 217.7, -67.0 (Local)

2025-09-04T18:39:23.642Z,1757011163.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.7, -67.0 (Local)

2025-09-04T18:39:23.649Z,1757011163.649 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:23.654Z,1757011163.654 [DAT](INFO): DAT read: 18:39:22.3220 LVL= 27152, 23857, 17298, 27203, AGC= 49, IDX= 498,-0.07, 0.806, 1.251, 2.537, 1.137, PHS=-0.229, 0.158, 1.356, RAW= 223.6, -17.6, CAL= 223.1, -23.4, ROT= 286.9,  23.4

2025-09-04T18:39:23.655Z,1757011163.655 [DAT](INFO): got valid direction response:
 18:39:22.3220 LVL= 27152, 23857, 17298, 27203, AGC= 49, IDX= 498,-0.07, 0.806, 1.251, 2.537, 1.137, PHS=-0.229, 0.158, 1.356, RAW= 223.6, -17.6, CAL= 223.1, -23.4, ROT= 286.9,  23.4

2025-09-04T18:39:23.655Z,1757011163.655 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-09-04T18:39:23.686Z,1757011163.686 [DAT](INFO): direction in FSK: [0.266793,-0.878120,-0.397148]
2025-09-04T18:39:23.687Z,1757011163.687 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:23.760Z,1757011163.760 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=4.373366
2025-09-04T18:39:23.889Z,1757011163.889 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=4.501342
2025-09-04T18:39:24.138Z,1757011164.138 [DAT](INFO): DAT read: Rx Time:18:39:22.8220 

2025-09-04T18:39:24.138Z,1757011164.138 [DAT](INFO): Rx dataTimestamp_ set to:1757011164.137699
2025-09-04T18:39:24.139Z,1757011164.139 [DAT](INFO): DAT read: Bearing 217.9, -67.9 (Local)

2025-09-04T18:39:24.140Z,1757011164.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.9, -67.9 (Local)

2025-09-04T18:39:24.142Z,1757011164.142 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:24.146Z,1757011164.146 [DAT](INFO): DAT read: 18:39:22.8220 LVL= 28080, 23617, 17266, 29075, AGC= 50, IDX= 498, 0.15, 2.516, 2.980,-2.012, 2.870, PHS=-0.252, 0.154, 1.356, RAW= 224.1, -17.1, CAL= 223.6, -23.0, ROT= 286.4,  23.0

2025-09-04T18:39:24.147Z,1757011164.147 [DAT](INFO): got valid direction response:
 18:39:22.8220 LVL= 28080, 23617, 17266, 29075, AGC= 50, IDX= 498, 0.15, 2.516, 2.980,-2.012, 2.870, PHS=-0.252, 0.154, 1.356, RAW= 224.1, -17.1, CAL= 223.6, -23.0, ROT= 286.4,  23.0

2025-09-04T18:39:24.148Z,1757011164.148 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-09-04T18:39:24.149Z,1757011164.149 [DAT](INFO): direction in FSK: [0.259897,-0.883053,-0.390731]
2025-09-04T18:39:24.149Z,1757011164.149 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:24.153Z,1757011164.153 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=4.766350
2025-09-04T18:39:24.400Z,1757011164.400 [DAT](INFO): DAT read: Rx Time:18:39:23.3220 

2025-09-04T18:39:24.401Z,1757011164.401 [DAT](INFO): Rx dataTimestamp_ set to:1757011164.400681
2025-09-04T18:39:24.404Z,1757011164.404 [DAT](INFO): DAT read: Bearing 219.8, -68.6 (Local)

2025-09-04T18:39:24.405Z,1757011164.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.8, -68.6 (Local)

2025-09-04T18:39:24.407Z,1757011164.407 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=5.019367
2025-09-04T18:39:24.643Z,1757011164.643 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:24.647Z,1757011164.647 [DAT](INFO): DAT read: 18:39:23.3220 LVL= 28144, 23537, 17538, 27955, AGC= 50, IDX= 498,-0.48, 0.026, 0.491, 1.799, 0.397, PHS=-0.269, 0.139, 1.358, RAW= 223.9, -16.5, CAL= 223.5, -22.5, ROT= 286.5,  22.5

2025-09-04T18:39:24.649Z,1757011164.649 [DAT](INFO): got valid direction response:
 18:39:23.3220 LVL= 28144, 23537, 17538, 27955, AGC= 50, IDX= 498,-0.48, 0.026, 0.491, 1.799, 0.397, PHS=-0.269, 0.139, 1.358, RAW= 223.9, -16.5, CAL= 223.5, -22.5, ROT= 286.5,  22.5

2025-09-04T18:39:24.649Z,1757011164.649 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-09-04T18:39:24.650Z,1757011164.650 [DAT](INFO): direction in FSK: [0.262396,-0.885834,-0.382683]
2025-09-04T18:39:24.650Z,1757011164.650 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:24.654Z,1757011164.654 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=5.266964
2025-09-04T18:39:24.896Z,1757011164.896 [DAT](INFO): DAT read: Rx Time:18:39:23.8221 

2025-09-04T18:39:24.897Z,1757011164.897 [DAT](INFO): Rx dataTimestamp_ set to:1757011164.896421
2025-09-04T18:39:24.899Z,1757011164.899 [DAT](INFO): DAT read: Bearing 221.5, -69.6 (Local)

2025-09-04T18:39:24.901Z,1757011164.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.5, -69.6 (Local)

2025-09-04T18:39:24.903Z,1757011164.903 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=5.515257
2025-09-04T18:39:25.147Z,1757011165.147 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-09-04T18:39:25.151Z,1757011165.151 [DAT](INFO): DAT read: 18:39:23.8221 LVL= 26608, 25361, 17362, 25891, AGC= 51, IDX= 499,-0.14, 1.274, 1.748, 3.068, 1.669, PHS=-0.293, 0.124, 1.355, RAW= 224.1, -15.8, CAL= 223.6, -21.9, ROT= 286.4,  21.9

2025-09-04T18:39:25.153Z,1757011165.153 [DAT](INFO): got valid direction response:
 18:39:23.8221 LVL= 26608, 25361, 17362, 25891, AGC= 51, IDX= 499,-0.14, 1.274, 1.748, 3.068, 1.669, PHS=-0.293, 0.124, 1.355, RAW= 224.1, -15.8, CAL= 223.6, -21.9, ROT= 286.4,  21.9

2025-09-04T18:39:25.153Z,1757011165.153 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-09-04T18:39:25.154Z,1757011165.154 [DAT](INFO): direction in FSK: [0.261967,-0.890086,-0.372988]
2025-09-04T18:39:25.155Z,1757011165.155 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:25.161Z,1757011165.161 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=5.774448
2025-09-04T18:39:25.400Z,1757011165.400 [DAT](INFO): DAT read: Rx Time:18:39:24.3219 

2025-09-04T18:39:25.403Z,1757011165.403 [DAT](INFO): Rx dataTimestamp_ set to:1757011165.401496
2025-09-04T18:39:25.405Z,1757011165.405 [DAT](INFO): DAT read: Bearing 222.3, -71.0 (Local)

2025-09-04T18:39:25.406Z,1757011165.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.3, -71.0 (Local)

2025-09-04T18:39:25.413Z,1757011165.413 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=6.020907
2025-09-04T18:39:25.651Z,1757011165.651 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed -0.1

2025-09-04T18:39:25.655Z,1757011165.655 [DAT](INFO): DAT read: 18:39:24.3219 LVL= 26480, 24977, 17810, 26035, AGC= 51, IDX= 498, 0.06, 1.457, 1.955,-3.004, 1.885, PHS=-0.326, 0.115, 1.350, RAW= 224.7, -15.0, CAL= 224.3, -21.3, ROT= 285.7,  21.3

2025-09-04T18:39:25.656Z,1757011165.656 [DAT](INFO): got valid direction response:
 18:39:24.3219 LVL= 26480, 24977, 17810, 26035, AGC= 51, IDX= 498, 0.06, 1.457, 1.955,-3.004, 1.885, PHS=-0.326, 0.115, 1.350, RAW= 224.7, -15.0, CAL= 224.3, -21.3, ROT= 285.7,  21.3

2025-09-04T18:39:25.657Z,1757011165.657 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-09-04T18:39:25.658Z,1757011165.658 [DAT](INFO): direction in FSK: [0.252116,-0.896931,-0.363251]
2025-09-04T18:39:25.658Z,1757011165.658 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:25.661Z,1757011165.661 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=6.274539
2025-09-04T18:39:25.904Z,1757011165.904 [DAT](INFO): DAT read: Rx Time:18:39:24.8220 

2025-09-04T18:39:25.905Z,1757011165.905 [DAT](INFO): Rx dataTimestamp_ set to:1757011165.904462
2025-09-04T18:39:25.908Z,1757011165.908 [DAT](INFO): DAT read: Bearing 222.9, -72.3 (Local)

2025-09-04T18:39:25.922Z,1757011165.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -72.3 (Local)

2025-09-04T18:39:25.939Z,1757011165.939 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:25.946Z,1757011165.946 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-09-04T18:39:25.948Z,1757011165.948 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=6.561591
2025-09-04T18:39:26.157Z,1757011166.157 [DAT](INFO): DAT read: 18:39:24.8220 LVL= 27728, 25569, 19746, 27731, AGC= 51, IDX= 499, 0.36,-3.055,-2.535,-1.217,-2.595, PHS=-0.359, 0.105, 1.334, RAW= 225.4, -14.1, CAL= 225.0, -20.7, ROT= 285.0,  20.7

2025-09-04T18:39:26.158Z,1757011166.158 [DAT](INFO): got valid direction response:
 18:39:24.8220 LVL= 27728, 25569, 19746, 27731, AGC= 51, IDX= 499, 0.36,-3.055,-2.535,-1.217,-2.595, PHS=-0.359, 0.105, 1.334, RAW= 225.4, -14.1, CAL= 225.0, -20.7, ROT= 285.0,  20.7

2025-09-04T18:39:26.158Z,1757011166.158 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-09-04T18:39:26.159Z,1757011166.159 [DAT](INFO): direction in FSK: [0.242111,-0.903570,-0.353475]
2025-09-04T18:39:26.163Z,1757011166.163 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=6.776008
2025-09-04T18:39:26.409Z,1757011166.409 [DAT](INFO): DAT read: Rx Time:18:39:25.3220 

2025-09-04T18:39:26.410Z,1757011166.410 [DAT](INFO): Rx dataTimestamp_ set to:1757011166.409213
2025-09-04T18:39:26.413Z,1757011166.413 [DAT](INFO): DAT read: Bearing 225.7, -72.9 (Local)

2025-09-04T18:39:26.414Z,1757011166.414 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.7, -72.9 (Local)

2025-09-04T18:39:26.418Z,1757011166.418 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:26.422Z,1757011166.422 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-09-04T18:39:26.426Z,1757011166.426 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=7.038106
2025-09-04T18:39:26.661Z,1757011166.661 [DAT](INFO): DAT read: 18:39:25.3220 LVL= 30512, 25201, 18306, 30035, AGC= 50, IDX= 499,-0.23,-0.200, 0.319, 1.654, 0.278, PHS=-0.376, 0.086, 1.332, RAW= 225.2, -13.6, CAL= 224.7, -20.2, ROT= 285.3,  20.2

2025-09-04T18:39:26.662Z,1757011166.662 [DAT](INFO): got valid direction response:
 18:39:25.3220 LVL= 30512, 25201, 18306, 30035, AGC= 50, IDX= 499,-0.23,-0.200, 0.319, 1.654, 0.278, PHS=-0.376, 0.086, 1.332, RAW= 225.2, -13.6, CAL= 224.7, -20.2, ROT= 285.3,  20.2

2025-09-04T18:39:26.662Z,1757011166.662 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-09-04T18:39:26.663Z,1757011166.663 [DAT](INFO): direction in FSK: [0.247643,-0.905230,-0.345298]
2025-09-04T18:39:26.667Z,1757011166.667 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=7.279823
2025-09-04T18:39:26.912Z,1757011166.912 [DAT](INFO): DAT read: Rx Time:18:39:25.8221 

2025-09-04T18:39:26.913Z,1757011166.913 [DAT](INFO): Rx dataTimestamp_ set to:1757011166.912220
2025-09-04T18:39:26.916Z,1757011166.916 [DAT](INFO): DAT read: Bearing 224.2, -73.9 (Local)

2025-09-04T18:39:26.917Z,1757011166.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.2, -73.9 (Local)

2025-09-04T18:39:26.921Z,1757011166.921 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-09-04T18:39:26.923Z,1757011166.923 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-09-04T18:39:27.165Z,1757011167.165 [DAT](INFO): DAT read: 18:39:25.8221 LVL= 28912, 32369, 24274, 28659, AGC= 52, IDX= 500, 0.03, 2.143, 2.694,-2.274, 2.641, PHS=-0.397, 0.098, 1.324, RAW= 226.2, -13.3, CAL= 225.8, -20.1, ROT= 284.2,  20.1

2025-09-04T18:39:27.166Z,1757011167.166 [DAT](INFO): got valid direction response:
 18:39:25.8221 LVL= 28912, 32369, 24274, 28659, AGC= 52, IDX= 500, 0.03, 2.143, 2.694,-2.274, 2.641, PHS=-0.397, 0.098, 1.324, RAW= 226.2, -13.3, CAL= 225.8, -20.1, ROT= 284.2,  20.1

2025-09-04T18:39:27.166Z,1757011167.166 [DAT](INFO): #Rx 121: Read direction message, but no range.
2025-09-04T18:39:27.167Z,1757011167.167 [DAT](INFO): direction in FSK: [0.230367,-0.910400,-0.343660]
2025-09-04T18:39:27.429Z,1757011167.429 [DAT](INFO): DAT read: Rx Time:18:39:26.3221 

2025-09-04T18:39:27.433Z,1757011167.433 [DAT](INFO): Rx dataTimestamp_ set to:1757011167.432162
2025-09-04T18:39:27.437Z,1757011167.437 [DAT](INFO): DAT read: Bearing 221.4, -74.9 (Local)

2025-09-04T18:39:27.438Z,1757011167.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.4, -74.9 (Local)

2025-09-04T18:39:27.493Z,1757011167.493 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-09-04T18:39:27.512Z,1757011167.512 [DAT](INFO): DAT read: 18:39:26.3221 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.33, 0.835, 1.420, 2.698, 1.351, PHS=-0.414, 0.115, 1.304, RAW= 227.5, -13.1, CAL= 227.2, -20.0, ROT= 282.8,  20.0

2025-09-04T18:39:27.513Z,1757011167.513 [DAT](INFO): got valid direction response:
 18:39:26.3221 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.33, 0.835, 1.420, 2.698, 1.351, PHS=-0.414, 0.115, 1.304, RAW= 227.5, -13.1, CAL= 227.2, -20.0, ROT= 282.8,  20.0

2025-09-04T18:39:27.514Z,1757011167.514 [DAT](INFO): #Rx 122: Read range and direction messages.
2025-09-04T18:39:27.515Z,1757011167.515 [DAT](INFO): direction in FSK: [0.208187,-0.916341,-0.342020]
2025-09-04T18:39:27.515Z,1757011167.515 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:27.922Z,1757011167.922 [DAT](INFO): DAT read: Rx Time:18:39:26.8221 

2025-09-04T18:39:27.924Z,1757011167.924 [DAT](INFO): Rx dataTimestamp_ set to:1757011167.922721
2025-09-04T18:39:27.927Z,1757011167.927 [DAT](INFO): DAT read: Bearing 222.9, -75.0 (Local)

2025-09-04T18:39:27.928Z,1757011167.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -75.0 (Local)

2025-09-04T18:39:27.932Z,1757011167.932 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed -0.1

2025-09-04T18:39:27.934Z,1757011167.934 [DAT](ERROR): #Rx 123: Read range message, but no direction.
2025-09-04T18:39:28.173Z,1757011168.173 [DAT](INFO): DAT read: 18:39:26.8221 LVL= 31120, 32753, 29170, 32755, AGC= 54, IDX= 500,-0.20,-1.280,-0.689, 0.607,-0.757, PHS=-0.420, 0.113, 1.320, RAW= 227.4, -13.1, CAL= 227.1, -19.9, ROT= 282.9,  19.9

2025-09-04T18:39:28.174Z,1757011168.174 [DAT](INFO): got valid direction response:
 18:39:26.8221 LVL= 31120, 32753, 29170, 32755, AGC= 54, IDX= 500,-0.20,-1.280,-0.689, 0.607,-0.757, PHS=-0.420, 0.113, 1.320, RAW= 227.4, -13.1, CAL= 227.1, -19.9, ROT= 282.9,  19.9

2025-09-04T18:39:28.174Z,1757011168.174 [DAT](INFO): #Rx 124: Read direction message, but no range.
2025-09-04T18:39:28.175Z,1757011168.175 [DAT](INFO): direction in FSK: [0.209919,-0.916556,-0.340380]
2025-09-04T18:39:28.424Z,1757011168.424 [DAT](INFO): DAT read: Rx Time:18:39:27.3220 

2025-09-04T18:39:28.426Z,1757011168.426 [DAT](INFO): Rx dataTimestamp_ set to:1757011168.424670
2025-09-04T18:39:28.430Z,1757011168.430 [DAT](INFO): DAT read: Bearing 225.4, -76.6 (Local)

2025-09-04T18:39:28.431Z,1757011168.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.4, -76.6 (Local)

2025-09-04T18:39:28.449Z,1757011168.449 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed -0.1

2025-09-04T18:39:28.454Z,1757011168.454 [DAT](INFO): DAT read: 18:39:27.3220 LVL= 32752, 32753, 29058, 31987, AGC= 52, IDX= 499, 0.09,-1.620,-1.020, 0.222,-1.072, PHS=-0.447, 0.097, 1.250, RAW= 228.3, -12.0, CAL= 227.8, -18.3, ROT= 282.2,  18.3

2025-09-04T18:39:28.455Z,1757011168.455 [DAT](INFO): got valid direction response:
 18:39:27.3220 LVL= 32752, 32753, 29058, 31987, AGC= 52, IDX= 499, 0.09,-1.620,-1.020, 0.222,-1.072, PHS=-0.447, 0.097, 1.250, RAW= 228.3, -12.0, CAL= 227.8, -18.3, ROT= 282.2,  18.3

2025-09-04T18:39:28.455Z,1757011168.455 [DAT](INFO): #Rx 125: Read range and direction messages.
2025-09-04T18:39:28.480Z,1757011168.480 [DAT](INFO): direction in FSK: [0.200637,-0.927984,-0.313992]
2025-09-04T18:39:28.481Z,1757011168.481 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:28.930Z,1757011168.930 [DAT](INFO): DAT read: Rx Time:18:39:27.8222 

2025-09-04T18:39:28.931Z,1757011168.931 [DAT](INFO): Rx dataTimestamp_ set to:1757011168.930056
2025-09-04T18:39:28.934Z,1757011168.934 [DAT](INFO): DAT read: Bearing 220.3, -76.8 (Local)

2025-09-04T18:39:28.935Z,1757011168.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.3, -76.8 (Local)

2025-09-04T18:39:28.945Z,1757011168.945 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-09-04T18:39:28.954Z,1757011168.954 [DAT](INFO): DAT read: 18:39:27.8222 LVL= 29968, 32753, 26178, 30867, AGC= 54, IDX= 500, 0.49,-0.699,-0.052, 1.183,-0.134, PHS=-0.463, 0.127, 1.273, RAW= 229.5, -12.2, CAL= 229.2, -18.9, ROT= 280.8,  18.9

2025-09-04T18:39:28.955Z,1757011168.955 [DAT](INFO): got valid direction response:
 18:39:27.8222 LVL= 29968, 32753, 26178, 30867, AGC= 54, IDX= 500, 0.49,-0.699,-0.052, 1.183,-0.134, PHS=-0.463, 0.127, 1.273, RAW= 229.5, -12.2, CAL= 229.2, -18.9, ROT= 280.8,  18.9

2025-09-04T18:39:28.956Z,1757011168.956 [DAT](INFO): #Rx 126: Read range and direction messages.
2025-09-04T18:39:28.989Z,1757011168.989 [DAT](INFO): direction in FSK: [0.177278,-0.929328,-0.323917]
2025-09-04T18:39:28.989Z,1757011168.989 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:29.434Z,1757011169.434 [DAT](INFO): DAT read: Rx Time:18:39:28.3221 

2025-09-04T18:39:29.435Z,1757011169.435 [DAT](INFO): Rx dataTimestamp_ set to:1757011169.434589
2025-09-04T18:39:29.439Z,1757011169.439 [DAT](INFO): DAT read: Bearing 222.9, -78.3 (Local)

2025-09-04T18:39:29.440Z,1757011169.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9, -78.3 (Local)

2025-09-04T18:39:29.445Z,1757011169.445 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.0

2025-09-04T18:39:29.451Z,1757011169.451 [DAT](INFO): DAT read: 18:39:28.3221 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.08, 2.963,-2.675,-1.504,-2.739, PHS=-0.479, 0.109, 1.191, RAW= 230.3, -11.2, CAL= 229.7, -17.3, ROT= 280.3,  17.3

2025-09-04T18:39:29.452Z,1757011169.452 [DAT](INFO): got valid direction response:
 18:39:28.3221 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 500,-0.08, 2.963,-2.675,-1.504,-2.739, PHS=-0.479, 0.109, 1.191, RAW= 230.3, -11.2, CAL= 229.7, -17.3, ROT= 280.3,  17.3

2025-09-04T18:39:29.452Z,1757011169.452 [DAT](INFO): #Rx 127: Read range and direction messages.
2025-09-04T18:39:29.453Z,1757011169.453 [DAT](INFO): direction in FSK: [0.170713,-0.939375,-0.297375]
2025-09-04T18:39:29.453Z,1757011169.453 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:29.938Z,1757011169.938 [DAT](INFO): DAT read: Rx Time:18:39:28.8223 

2025-09-04T18:39:29.939Z,1757011169.939 [DAT](INFO): Rx dataTimestamp_ set to:1757011169.938204
2025-09-04T18:39:29.943Z,1757011169.943 [DAT](INFO): DAT read: Bearing 220.7, -79.7 (Local)

2025-09-04T18:39:29.944Z,1757011169.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.7, -79.7 (Local)

2025-09-04T18:39:29.947Z,1757011169.947 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.0

2025-09-04T18:39:29.952Z,1757011169.952 [DAT](INFO): DAT read: 18:39:28.8223 LVL= 30576, 32753, 31474, 30579, AGC= 52, IDX= 501, 0.25,-0.518, 0.165, 1.292, 0.091, PHS=-0.507, 0.119, 1.158, RAW= 231.9, -10.6, CAL= 231.1, -16.3, ROT= 278.9,  16.3

2025-09-04T18:39:29.953Z,1757011169.953 [DAT](INFO): got valid direction response:
 18:39:28.8223 LVL= 30576, 32753, 31474, 30579, AGC= 52, IDX= 501, 0.25,-0.518, 0.165, 1.292, 0.091, PHS=-0.507, 0.119, 1.158, RAW= 231.9, -10.6, CAL= 231.1, -16.3, ROT= 278.9,  16.3

2025-09-04T18:39:29.954Z,1757011169.954 [DAT](INFO): #Rx 128: Read range and direction messages.
2025-09-04T18:39:29.955Z,1757011169.955 [DAT](INFO): direction in FSK: [0.148492,-0.948249,-0.280667]
2025-09-04T18:39:29.955Z,1757011169.955 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:30.441Z,1757011170.441 [DAT](INFO): DAT read: Rx Time:18:39:29.3222 

2025-09-04T18:39:30.442Z,1757011170.442 [DAT](INFO): Rx dataTimestamp_ set to:1757011170.441304
2025-09-04T18:39:30.446Z,1757011170.446 [DAT](INFO): DAT read: Bearing 214.1, -80.0 (Local)

2025-09-04T18:39:30.447Z,1757011170.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.1, -80.0 (Local)

2025-09-04T18:39:30.449Z,1757011170.449 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-09-04T18:39:30.453Z,1757011170.453 [DAT](INFO): DAT read: 18:39:29.3222 LVL= 29792, 32753, 29362, 31347, AGC= 53, IDX= 501,-0.21, 2.295, 3.019,-2.167, 2.919, PHS=-0.522, 0.145, 1.153, RAW= 233.3, -10.6, CAL= 232.6, -16.4, ROT= 277.4,  16.4

2025-09-04T18:39:30.454Z,1757011170.454 [DAT](INFO): got valid direction response:
 18:39:29.3222 LVL= 29792, 32753, 29362, 31347, AGC= 53, IDX= 501,-0.21, 2.295, 3.019,-2.167, 2.919, PHS=-0.522, 0.145, 1.153, RAW= 233.3, -10.6, CAL= 232.6, -16.4, ROT= 277.4,  16.4

2025-09-04T18:39:30.455Z,1757011170.455 [DAT](INFO): #Rx 129: Read range and direction messages.
2025-09-04T18:39:30.468Z,1757011170.468 [DAT](INFO): direction in FSK: [0.123555,-0.951324,-0.282341]
2025-09-04T18:39:30.469Z,1757011170.469 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:30.946Z,1757011170.946 [DAT](INFO): DAT read: Rx Time:18:39:29.8223 

2025-09-04T18:39:30.947Z,1757011170.947 [DAT](INFO): Rx dataTimestamp_ set to:1757011170.946874
2025-09-04T18:39:30.949Z,1757011170.949 [DAT](INFO): DAT read: Bearing 203.9, -79.2 (Local)

2025-09-04T18:39:30.949Z,1757011170.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.9, -79.2 (Local)

2025-09-04T18:39:30.951Z,1757011170.951 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-09-04T18:39:30.956Z,1757011170.956 [DAT](INFO): DAT read: 18:39:29.8223 LVL= 29968, 32753, 26354, 31907, AGC= 52, IDX= 502, 0.18,-1.374,-0.597, 0.467,-0.745, PHS=-0.527, 0.193, 1.168, RAW= 235.0, -11.3, CAL= 234.6, -17.5, ROT= 275.4,  17.5

2025-09-04T18:39:30.957Z,1757011170.957 [DAT](INFO): got valid direction response:
 18:39:29.8223 LVL= 29968, 32753, 26354, 31907, AGC= 52, IDX= 502, 0.18,-1.374,-0.597, 0.467,-0.745, PHS=-0.527, 0.193, 1.168, RAW= 235.0, -11.3, CAL= 234.6, -17.5, ROT= 275.4,  17.5

2025-09-04T18:39:30.957Z,1757011170.957 [DAT](INFO): #Rx 130: Read range and direction messages.
2025-09-04T18:39:30.958Z,1757011170.958 [DAT](INFO): direction in FSK: [0.089753,-0.949484,-0.300706]
2025-09-04T18:39:30.958Z,1757011170.958 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:31.449Z,1757011171.449 [DAT](INFO): DAT read: Rx Time:18:39:30.3223 

2025-09-04T18:39:31.449Z,1757011171.449 [DAT](INFO): Rx dataTimestamp_ set to:1757011171.448943
2025-09-04T18:39:31.451Z,1757011171.451 [DAT](INFO): DAT read: Bearing 193.6, -78.9 (Local)

2025-09-04T18:39:31.452Z,1757011171.452 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.6, -78.9 (Local)

2025-09-04T18:39:31.455Z,1757011171.455 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-09-04T18:39:31.465Z,1757011171.465 [DAT](INFO): DAT read: 18:39:30.3223 LVL= 32688, 32753, 25250, 30003, AGC= 53, IDX= 502,-0.25, 1.883, 2.729,-2.538, 2.537, PHS=-0.552, 0.237, 1.164, RAW= 237.3, -11.4, CAL= 236.9, -17.7, ROT= 273.1,  17.7

2025-09-04T18:39:31.466Z,1757011171.466 [DAT](INFO): got valid direction response:
 18:39:30.3223 LVL= 32688, 32753, 25250, 30003, AGC= 53, IDX= 502,-0.25, 1.883, 2.729,-2.538, 2.537, PHS=-0.552, 0.237, 1.164, RAW= 237.3, -11.4, CAL= 236.9, -17.7, ROT= 273.1,  17.7

2025-09-04T18:39:31.467Z,1757011171.467 [DAT](INFO): #Rx 131: Read range and direction messages.
2025-09-04T18:39:31.468Z,1757011171.468 [DAT](INFO): direction in FSK: [0.051519,-0.951267,-0.304033]
2025-09-04T18:39:31.504Z,1757011171.504 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:31.950Z,1757011171.950 [DAT](INFO): DAT read: Rx Time:18:39:30.8223 

2025-09-04T18:39:31.950Z,1757011171.950 [DAT](INFO): Rx dataTimestamp_ set to:1757011171.949819
2025-09-04T18:39:31.951Z,1757011171.951 [DAT](INFO): DAT read: Bearing 184.9, -77.5 (Local)

2025-09-04T18:39:31.952Z,1757011171.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.9, -77.5 (Local)

2025-09-04T18:39:31.954Z,1757011171.954 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-09-04T18:39:31.958Z,1757011171.958 [DAT](INFO): DAT read: 18:39:30.8223 LVL= 32752, 32753, 30562, 31859, AGC= 55, IDX= 502, 0.17, 2.948,-2.424,-1.455,-2.671, PHS=-0.562, 0.293, 1.172, RAW= 239.5, -12.0, CAL= 239.4, -18.7, ROT= 270.6,  18.7

2025-09-04T18:39:31.959Z,1757011171.959 [DAT](INFO): got valid direction response:
 18:39:30.8223 LVL= 32752, 32753, 30562, 31859, AGC= 55, IDX= 502, 0.17, 2.948,-2.424,-1.455,-2.671, PHS=-0.562, 0.293, 1.172, RAW= 239.5, -12.0, CAL= 239.4, -18.7, ROT= 270.6,  18.7

2025-09-04T18:39:31.960Z,1757011171.960 [DAT](INFO): #Rx 132: Read range and direction messages.
2025-09-04T18:39:31.961Z,1757011171.961 [DAT](INFO): direction in FSK: [0.009919,-0.947158,-0.320613]
2025-09-04T18:39:31.961Z,1757011171.961 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:32.454Z,1757011172.454 [DAT](INFO): DAT read: Rx Time:18:39:31.3223 

2025-09-04T18:39:32.454Z,1757011172.454 [DAT](INFO): Rx dataTimestamp_ set to:1757011172.453807
2025-09-04T18:39:32.455Z,1757011172.455 [DAT](INFO): DAT read: Bearing 176.9, -77.9 (Local)

2025-09-04T18:39:32.456Z,1757011172.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.9, -77.9 (Local)

2025-09-04T18:39:32.458Z,1757011172.458 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed -0.1

2025-09-04T18:39:32.463Z,1757011172.463 [DAT](INFO): DAT read: 18:39:31.3223 LVL= 32752, 32753, 29266, 28019, AGC= 53, IDX= 502,-0.23,-0.513, 0.460, 1.376, 0.187, PHS=-0.599, 0.318, 1.145, RAW= 241.7, -11.4, CAL= 241.3, -17.6, ROT= 268.7,  17.6

2025-09-04T18:39:32.464Z,1757011172.464 [DAT](INFO): got valid direction response:
 18:39:31.3223 LVL= 32752, 32753, 29266, 28019, AGC= 53, IDX= 502,-0.23,-0.513, 0.460, 1.376, 0.187, PHS=-0.599, 0.318, 1.145, RAW= 241.7, -11.4, CAL= 241.3, -17.6, ROT= 268.7,  17.6

2025-09-04T18:39:32.465Z,1757011172.465 [DAT](INFO): #Rx 133: Read range and direction messages.
2025-09-04T18:39:32.465Z,1757011172.465 [DAT](INFO): direction in FSK: [-0.021625,-0.952945,-0.302370]
2025-09-04T18:39:32.466Z,1757011172.466 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:32.958Z,1757011172.958 [DAT](INFO): DAT read: Rx Time:18:39:31.8224 

2025-09-04T18:39:32.958Z,1757011172.958 [DAT](INFO): Rx dataTimestamp_ set to:1757011172.958106
2025-09-04T18:39:32.960Z,1757011172.960 [DAT](INFO): DAT read: Bearing 173.0, -76.5 (Local)

2025-09-04T18:39:32.960Z,1757011172.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.0, -76.5 (Local)

2025-09-04T18:39:32.962Z,1757011172.962 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-09-04T18:39:32.967Z,1757011172.967 [DAT](INFO): DAT read: 18:39:31.8224 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 503, 0.15, 2.697,-2.581,-1.721,-2.894, PHS=-0.591, 0.358, 1.128, RAW= 243.4, -12.0, CAL= 243.2, -18.3, ROT= 266.8,  18.3

2025-09-04T18:39:32.968Z,1757011172.968 [DAT](INFO): got valid direction response:
 18:39:31.8224 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 503, 0.15, 2.697,-2.581,-1.721,-2.894, PHS=-0.591, 0.358, 1.128, RAW= 243.4, -12.0, CAL= 243.2, -18.3, ROT= 266.8,  18.3

2025-09-04T18:39:32.968Z,1757011172.968 [DAT](INFO): #Rx 134: Read range and direction messages.
2025-09-04T18:39:32.969Z,1757011172.969 [DAT](INFO): direction in FSK: [-0.052999,-0.947945,-0.313992]
2025-09-04T18:39:32.970Z,1757011172.970 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:33.463Z,1757011173.463 [DAT](INFO): DAT read: Rx Time:18:39:32.3224 

2025-09-04T18:39:33.463Z,1757011173.463 [DAT](INFO): Rx dataTimestamp_ set to:1757011173.462807
2025-09-04T18:39:33.465Z,1757011173.465 [DAT](INFO): DAT read: Bearing 169.9, -76.0 (Local)

2025-09-04T18:39:33.466Z,1757011173.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.9, -76.0 (Local)

2025-09-04T18:39:33.470Z,1757011173.470 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed -0.1

2025-09-04T18:39:33.476Z,1757011173.476 [DAT](INFO): DAT read: 18:39:32.3224 LVL= 32752, 32753, 29842, 32755, AGC= 52, IDX= 503,-0.27, 0.073, 1.123, 1.954, 0.782, PHS=-0.607, 0.386, 1.127, RAW= 244.8, -12.0, CAL= 244.4, -18.2, ROT= 265.6,  18.2

2025-09-04T18:39:33.486Z,1757011173.486 [DAT](INFO): got valid direction response:
 18:39:32.3224 LVL= 32752, 32753, 29842, 32755, AGC= 52, IDX= 503,-0.27, 0.073, 1.123, 1.954, 0.782, PHS=-0.607, 0.386, 1.127, RAW= 244.8, -12.0, CAL= 244.4, -18.2, ROT= 265.6,  18.2

2025-09-04T18:39:33.486Z,1757011173.486 [DAT](INFO): #Rx 135: Read range and direction messages.
2025-09-04T18:39:33.487Z,1757011173.487 [DAT](INFO): direction in FSK: [-0.072881,-0.947172,-0.312335]
2025-09-04T18:39:33.488Z,1757011173.488 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:33.966Z,1757011173.966 [DAT](INFO): DAT read: Rx Time:18:39:32.8225 

2025-09-04T18:39:33.966Z,1757011173.966 [DAT](INFO): Rx dataTimestamp_ set to:1757011173.965786
2025-09-04T18:39:33.967Z,1757011173.967 [DAT](INFO): DAT read: Bearing 170.0, -75.5 (Local)

2025-09-04T18:39:33.968Z,1757011173.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.0, -75.5 (Local)

2025-09-04T18:39:33.970Z,1757011173.970 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.1

2025-09-04T18:39:33.974Z,1757011173.974 [DAT](INFO): DAT read: 18:39:32.8225 LVL= 30416, 32241, 26994, 32755, AGC= 50, IDX= 504, 0.12,-2.904,-1.855,-1.054,-2.207, PHS=-0.595, 0.397, 1.109, RAW= 245.4, -12.3, CAL= 245.2, -18.6, ROT= 264.8,  18.6

2025-09-04T18:39:33.975Z,1757011173.975 [DAT](INFO): got valid direction response:
 18:39:32.8225 LVL= 30416, 32241, 26994, 32755, AGC= 50, IDX= 504, 0.12,-2.904,-1.855,-1.054,-2.207, PHS=-0.595, 0.397, 1.109, RAW= 245.4, -12.3, CAL= 245.2, -18.6, ROT= 264.8,  18.6

2025-09-04T18:39:33.976Z,1757011173.976 [DAT](INFO): #Rx 136: Read range and direction messages.
2025-09-04T18:39:33.977Z,1757011173.977 [DAT](INFO): direction in FSK: [-0.085899,-0.943868,-0.318959]
2025-09-04T18:39:33.977Z,1757011173.977 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:34.470Z,1757011174.470 [DAT](INFO): DAT read: Rx Time:18:39:33.3225 

2025-09-04T18:39:34.470Z,1757011174.470 [DAT](INFO): Rx dataTimestamp_ set to:1757011174.470015
2025-09-04T18:39:34.472Z,1757011174.472 [DAT](INFO): DAT read: Bearing 165.5, -75.0 (Local)

2025-09-04T18:39:34.473Z,1757011174.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.5, -75.0 (Local)

2025-09-04T18:39:34.475Z,1757011174.475 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.1

2025-09-04T18:39:34.479Z,1757011174.479 [DAT](INFO): DAT read: 18:39:33.3225 LVL= 30256, 28737, 26386, 32755, AGC= 49, IDX= 504,-0.34, 0.842, 1.929, 2.676, 1.554, PHS=-0.610, 0.421, 1.078, RAW= 247.3, -12.0, CAL= 246.9, -18.1, ROT= 263.2,  18.1

2025-09-04T18:39:34.480Z,1757011174.480 [DAT](INFO): got valid direction response:
 18:39:33.3225 LVL= 30256, 28737, 26386, 32755, AGC= 49, IDX= 504,-0.34, 0.842, 1.929, 2.676, 1.554, PHS=-0.610, 0.421, 1.078, RAW= 247.3, -12.0, CAL= 246.9, -18.1, ROT= 263.2,  18.1

2025-09-04T18:39:34.481Z,1757011174.481 [DAT](INFO): #Rx 137: Read range and direction messages.
2025-09-04T18:39:34.482Z,1757011174.482 [DAT](INFO): direction in FSK: [-0.112545,-0.943829,-0.310676]
2025-09-04T18:39:34.482Z,1757011174.482 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:34.974Z,1757011174.974 [DAT](INFO): DAT read: Rx Time:18:39:33.8226 

2025-09-04T18:39:34.974Z,1757011174.974 [DAT](INFO): Rx dataTimestamp_ set to:1757011174.973877
2025-09-04T18:39:34.975Z,1757011174.975 [DAT](INFO): DAT read: Bearing 164.7, -74.4 (Local)

2025-09-04T18:39:34.976Z,1757011174.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.7, -74.4 (Local)

2025-09-04T18:39:34.978Z,1757011174.978 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.1

2025-09-04T18:39:34.983Z,1757011174.983 [DAT](INFO): DAT read: 18:39:33.8226 LVL= 29872, 26913, 22962, 28979, AGC= 49, IDX= 505, 0.01,-2.380,-1.250,-0.518,-1.652, PHS=-0.626, 0.448, 1.090, RAW= 248.2, -12.1, CAL= 247.8, -18.2, ROT= 262.2,  18.2

2025-09-04T18:39:34.984Z,1757011174.984 [DAT](INFO): got valid direction response:
 18:39:33.8226 LVL= 29872, 26913, 22962, 28979, AGC= 49, IDX= 505, 0.01,-2.380,-1.250,-0.518,-1.652, PHS=-0.626, 0.448, 1.090, RAW= 248.2, -12.1, CAL= 247.8, -18.2, ROT= 262.2,  18.2

2025-09-04T18:39:34.984Z,1757011174.984 [DAT](INFO): #Rx 138: Read range and direction messages.
2025-09-04T18:39:34.985Z,1757011174.985 [DAT](INFO): direction in FSK: [-0.128926,-0.941183,-0.312335]
2025-09-04T18:39:34.985Z,1757011174.985 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:35.478Z,1757011175.478 [DAT](INFO): DAT read: Rx Time:18:39:34.3226 

2025-09-04T18:39:35.479Z,1757011175.479 [DAT](INFO): Rx dataTimestamp_ set to:1757011175.478458
2025-09-04T18:39:35.481Z,1757011175.481 [DAT](INFO): DAT read: Bearing 165.4, -73.7 (Local)

2025-09-04T18:39:35.481Z,1757011175.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.4, -73.7 (Local)

2025-09-04T18:39:35.484Z,1757011175.484 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.1

2025-09-04T18:39:35.490Z,1757011175.490 [DAT](INFO): DAT read: 18:39:34.3226 LVL= 29792, 25585, 24050, 30643, AGC= 51, IDX= 504, 0.49, 3.129,-1.951,-1.211,-2.399, PHS=-0.652, 0.494, 1.144, RAW= 249.0, -12.5, CAL= 248.7, -18.5, ROT= 261.3,  18.5

2025-09-04T18:39:35.491Z,1757011175.491 [DAT](INFO): got valid direction response:
 18:39:34.3226 LVL= 29792, 25585, 24050, 30643, AGC= 51, IDX= 504, 0.49, 3.129,-1.951,-1.211,-2.399, PHS=-0.652, 0.494, 1.144, RAW= 249.0, -12.5, CAL= 248.7, -18.5, ROT= 261.3,  18.5

2025-09-04T18:39:35.491Z,1757011175.491 [DAT](INFO): #Rx 139: Read range and direction messages.
2025-09-04T18:39:35.497Z,1757011175.497 [DAT](INFO): direction in FSK: [-0.143445,-0.937412,-0.317305]
2025-09-04T18:39:35.498Z,1757011175.498 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:35.982Z,1757011175.982 [DAT](INFO): DAT read: Rx Time:18:39:34.8226 

2025-09-04T18:39:35.982Z,1757011175.982 [DAT](INFO): Rx dataTimestamp_ set to:1757011175.981762
2025-09-04T18:39:35.983Z,1757011175.983 [DAT](INFO): DAT read: Bearing 163.0, -73.3 (Local)

2025-09-04T18:39:35.984Z,1757011175.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.0, -73.3 (Local)

2025-09-04T18:39:35.986Z,1757011175.986 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.1

2025-09-04T18:39:35.990Z,1757011175.990 [DAT](INFO): DAT read: 18:39:34.8226 LVL= 32752, 30433, 28130, 32435, AGC= 52, IDX= 505,-0.01, 2.077,-2.950,-2.243, 2.863, PHS=-0.684, 0.515, 1.133, RAW= 250.4, -12.0, CAL= 249.9, -17.9, ROT= 260.1,  17.9

2025-09-04T18:39:35.991Z,1757011175.991 [DAT](INFO): got valid direction response:
 18:39:34.8226 LVL= 32752, 30433, 28130, 32435, AGC= 52, IDX= 505,-0.01, 2.077,-2.950,-2.243, 2.863, PHS=-0.684, 0.515, 1.133, RAW= 250.4, -12.0, CAL= 249.9, -17.9, ROT= 260.1,  17.9

2025-09-04T18:39:35.992Z,1757011175.992 [DAT](INFO): #Rx 140: Read range and direction messages.
2025-09-04T18:39:35.993Z,1757011175.993 [DAT](INFO): direction in FSK: [-0.163607,-0.937425,-0.307357]
2025-09-04T18:39:35.993Z,1757011175.993 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:36.225Z,1757011176.225 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-09-04T18:39:36.225Z,1757011176.225 [DefaultWithUndock:A.Wait] Stopped
2025-09-04T18:39:36.225Z,1757011176.225 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-04T18:39:36.225Z,1757011176.225 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-09-04T18:39:36.226Z,1757011176.226 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-09-04T18:39:36.226Z,1757011176.226 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-09-04T18:39:36.226Z,1757011176.226 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-09-04T18:39:36.226Z,1757011176.226 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-09-04T18:39:36.226Z,1757011176.226 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-09-04T18:39:36.226Z,1757011176.226 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-09-04T18:39:36.498Z,1757011176.498 [DAT](INFO): DAT read: Rx Time:18:39:35.3225 

2025-09-04T18:39:36.498Z,1757011176.498 [DAT](INFO): Rx dataTimestamp_ set to:1757011176.497699
2025-09-04T18:39:36.499Z,1757011176.499 [DAT](INFO): DAT read: Bearing 162.9, -72.3 (Local)

2025-09-04T18:39:36.500Z,1757011176.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.9, -72.3 (Local)

2025-09-04T18:39:36.502Z,1757011176.502 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed -0.1

2025-09-04T18:39:36.507Z,1757011176.507 [DAT](INFO): DAT read: 18:39:35.3225 LVL= 32752, 32065, 32754, 32755, AGC= 53, IDX= 504, 0.48, 1.290, 2.580,-3.034, 2.083, PHS=-0.691, 0.543, 1.123, RAW= 251.7, -12.1, CAL= 251.2, -18.0, ROT= 258.8,  18.0

2025-09-04T18:39:36.508Z,1757011176.508 [DAT](INFO): got valid direction response:
 18:39:35.3225 LVL= 32752, 32065, 32754, 32755, AGC= 53, IDX= 504, 0.48, 1.290, 2.580,-3.034, 2.083, PHS=-0.691, 0.543, 1.123, RAW= 251.7, -12.1, CAL= 251.2, -18.0, ROT= 258.8,  18.0

2025-09-04T18:39:36.509Z,1757011176.509 [DAT](INFO): #Rx 141: Read range and direction messages.
2025-09-04T18:39:36.510Z,1757011176.510 [DAT](INFO): direction in FSK: [-0.184728,-0.932944,-0.309017]
2025-09-04T18:39:36.510Z,1757011176.510 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:36.618Z,1757011176.618 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-09-04T18:39:36.618Z,1757011176.618 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-09-04T18:39:36.619Z,1757011176.619 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached from dock at depth 73.969284 m.
2025-09-04T18:39:36.624Z,1757011176.624 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:37.002Z,1757011177.002 [DAT](INFO): DAT read: Rx Time:18:39:35.8227 

2025-09-04T18:39:37.002Z,1757011177.002 [DAT](INFO): Rx dataTimestamp_ set to:1757011177.001909
2025-09-04T18:39:37.003Z,1757011177.003 [DAT](INFO): DAT read: Bearing 162.7, -70.7 (Local)

2025-09-04T18:39:37.004Z,1757011177.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.7, -70.7 (Local)

2025-09-04T18:39:37.006Z,1757011177.006 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed -0.1

2025-09-04T18:39:37.011Z,1757011177.011 [DAT](INFO): DAT read: 18:39:35.8227 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.04, 1.325, 2.657,-3.010, 2.118, PHS=-0.691, 0.584, 1.111, RAW= 253.5, -12.5, CAL= 253.0, -18.4, ROT= 257.0,  18.4

2025-09-04T18:39:37.012Z,1757011177.012 [DAT](INFO): got valid direction response:
 18:39:35.8227 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.04, 1.325, 2.657,-3.010, 2.118, PHS=-0.691, 0.584, 1.111, RAW= 253.5, -12.5, CAL= 253.0, -18.4, ROT= 257.0,  18.4

2025-09-04T18:39:37.013Z,1757011177.013 [DAT](INFO): #Rx 142: Read range and direction messages.
2025-09-04T18:39:37.014Z,1757011177.014 [DAT](INFO): direction in FSK: [-0.213451,-0.924556,-0.315649]
2025-09-04T18:39:37.014Z,1757011177.014 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:37.109Z,1757011177.109 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:37.266Z,1757011177.266 [DockingStepper](INFO): Changing to mode: 3
2025-09-04T18:39:37.462Z,1757011177.462 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-09-04T18:39:37.506Z,1757011177.506 [DAT](INFO): DAT read: Rx Time:18:39:36.3226 

2025-09-04T18:39:37.506Z,1757011177.506 [DAT](INFO): Rx dataTimestamp_ set to:1757011177.506204
2025-09-04T18:39:37.509Z,1757011177.509 [DAT](INFO): DAT read: Bearing 165.4, -68.9 (Local)

2025-09-04T18:39:37.509Z,1757011177.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.4, -68.9 (Local)

2025-09-04T18:39:37.511Z,1757011177.511 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed -0.1

2025-09-04T18:39:37.518Z,1757011177.518 [DAT](INFO): DAT read: 18:39:36.3226 LVL= 32752, 29297, 31138, 31795, AGC= 52, IDX= 505, 0.34, 1.724, 3.087,-2.611, 2.498, PHS=-0.672, 0.634, 1.131, RAW= 254.5, -13.5, CAL= 254.4, -19.5, ROT= 255.6,  19.5

2025-09-04T18:39:37.519Z,1757011177.519 [DAT](INFO): got valid direction response:
 18:39:36.3226 LVL= 32752, 29297, 31138, 31795, AGC= 52, IDX= 505, 0.34, 1.724, 3.087,-2.611, 2.498, PHS=-0.672, 0.634, 1.131, RAW= 254.5, -13.5, CAL= 254.4, -19.5, ROT= 255.6,  19.5

2025-09-04T18:39:37.524Z,1757011177.524 [DAT](INFO): #Rx 143: Read range and direction messages.
2025-09-04T18:39:37.526Z,1757011177.526 [DAT](INFO): direction in FSK: [-0.234425,-0.913027,-0.333807]
2025-09-04T18:39:37.526Z,1757011177.526 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:37.821Z,1757011177.821 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:38.010Z,1757011178.010 [DAT](INFO): DAT read: Rx Time:18:39:36.8228 

2025-09-04T18:39:38.010Z,1757011178.010 [DAT](INFO): Rx dataTimestamp_ set to:1757011178.009696
2025-09-04T18:39:38.011Z,1757011178.011 [DAT](INFO): DAT read: Bearing 167.3, -67.2 (Local)

2025-09-04T18:39:38.012Z,1757011178.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.3, -67.2 (Local)

2025-09-04T18:39:38.014Z,1757011178.014 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-09-04T18:39:38.018Z,1757011178.018 [DAT](INFO): DAT read: 18:39:36.8228 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.14, 1.559, 2.960,-2.780, 2.313, PHS=-0.652, 0.691, 1.146, RAW= 255.9, -14.5, CAL= 255.8, -20.5, ROT= 254.2,  20.5

2025-09-04T18:39:38.019Z,1757011178.019 [DAT](INFO): got valid direction response:
 18:39:36.8228 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.14, 1.559, 2.960,-2.780, 2.313, PHS=-0.652, 0.691, 1.146, RAW= 255.9, -14.5, CAL= 255.8, -20.5, ROT= 254.2,  20.5

2025-09-04T18:39:38.020Z,1757011178.020 [DAT](INFO): #Rx 144: Read range and direction messages.
2025-09-04T18:39:38.021Z,1757011178.021 [DAT](INFO): direction in FSK: [-0.255037,-0.901283,-0.350207]
2025-09-04T18:39:38.021Z,1757011178.021 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:38.276Z,1757011178.276 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:38.514Z,1757011178.514 [DAT](INFO): DAT read: Rx Time:18:39:37.3227 

2025-09-04T18:39:38.514Z,1757011178.514 [DAT](INFO): Rx dataTimestamp_ set to:1757011178.513955
2025-09-04T18:39:38.515Z,1757011178.515 [DAT](INFO): DAT read: Bearing 167.8, -66.1 (Local)

2025-09-04T18:39:38.516Z,1757011178.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.8, -66.1 (Local)

2025-09-04T18:39:38.518Z,1757011178.518 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-09-04T18:39:38.523Z,1757011178.523 [DAT](INFO): DAT read: 18:39:37.3227 LVL= 28768, 31393, 28738, 31571, AGC= 51, IDX= 506, 0.20, 1.668, 3.049,-2.747, 2.394, PHS=-0.624, 0.700, 1.098, RAW= 257.2, -14.9, CAL= 257.1, -20.8, ROT= 252.9,  20.8

2025-09-04T18:39:38.524Z,1757011178.524 [DAT](INFO): got valid direction response:
 18:39:37.3227 LVL= 28768, 31393, 28738, 31571, AGC= 51, IDX= 506, 0.20, 1.668, 3.049,-2.747, 2.394, PHS=-0.624, 0.700, 1.098, RAW= 257.2, -14.9, CAL= 257.1, -20.8, ROT= 252.9,  20.8

2025-09-04T18:39:38.528Z,1757011178.528 [DAT](INFO): #Rx 145: Read range and direction messages.
2025-09-04T18:39:38.529Z,1757011178.529 [DAT](INFO): direction in FSK: [-0.274877,-0.893500,-0.355107]
2025-09-04T18:39:38.529Z,1757011178.529 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:38.642Z,1757011178.642 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:39.018Z,1757011179.018 [DAT](INFO): DAT read: Rx Time:18:39:37.8229 

2025-09-04T18:39:39.019Z,1757011179.019 [DAT](INFO): Rx dataTimestamp_ set to:1757011179.018619
2025-09-04T18:39:39.020Z,1757011179.020 [DAT](INFO): DAT read: Bearing 164.7, -65.4 (Local)

2025-09-04T18:39:39.021Z,1757011179.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.7, -65.4 (Local)

2025-09-04T18:39:39.023Z,1757011179.023 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-09-04T18:39:39.027Z,1757011179.027 [DAT](INFO): DAT read: 18:39:37.8229 LVL= 30240, 31121, 28146, 32163, AGC= 51, IDX= 508,-0.20, 0.569, 1.975, 2.401, 1.327, PHS=-0.657, 0.693, 1.030, RAW= 259.1, -13.7, CAL= 259.0, -19.6, ROT= 251.0,  19.6

2025-09-04T18:39:39.028Z,1757011179.028 [DAT](INFO): got valid direction response:
 18:39:37.8229 LVL= 30240, 31121, 28146, 32163, AGC= 51, IDX= 508,-0.20, 0.569, 1.975, 2.401, 1.327, PHS=-0.657, 0.693, 1.030, RAW= 259.1, -13.7, CAL= 259.0, -19.6, ROT= 251.0,  19.6

2025-09-04T18:39:39.029Z,1757011179.029 [DAT](INFO): #Rx 146: Read range and direction messages.
2025-09-04T18:39:39.030Z,1757011179.030 [DAT](INFO): direction in FSK: [-0.306704,-0.890733,-0.335452]
2025-09-04T18:39:39.030Z,1757011179.030 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:39.135Z,1757011179.135 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:39.523Z,1757011179.523 [DAT](INFO): DAT read: Rx Time:18:39:38.3227 

2025-09-04T18:39:39.523Z,1757011179.523 [DAT](INFO): Rx dataTimestamp_ set to:1757011179.522808
2025-09-04T18:39:39.525Z,1757011179.525 [DAT](INFO): DAT read: Bearing 164.0, -64.8 (Local)

2025-09-04T18:39:39.526Z,1757011179.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing 164.0, -64.8 (Local)

2025-09-04T18:39:39.529Z,1757011179.529 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-09-04T18:39:39.538Z,1757011179.538 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-09-04T18:39:39.559Z,1757011179.559 [DAT](INFO): DAT read: 18:39:38.3227 LVL= 32752, 32609, 32754, 32755, AGC= 51, IDX= 507, 0.17, 0.518, 1.914, 2.296, 1.272, PHS=-0.651, 0.687, 0.980, RAW= 260.3, -13.4, CAL= 260.1, -19.2, ROT= 249.9,  19.2

2025-09-04T18:39:39.568Z,1757011179.568 [DAT](INFO): got valid direction response:
 18:39:38.3227 LVL= 32752, 32609, 32754, 32755, AGC= 51, IDX= 507, 0.17, 0.518, 1.914, 2.296, 1.272, PHS=-0.651, 0.687, 0.980, RAW= 260.3, -13.4, CAL= 260.1, -19.2, ROT= 249.9,  19.2

2025-09-04T18:39:39.569Z,1757011179.569 [DAT](INFO): #Rx 147: Read range and direction messages.
2025-09-04T18:39:39.570Z,1757011179.570 [DAT](INFO): direction in FSK: [-0.324544,-0.886858,-0.328867]
2025-09-04T18:39:39.570Z,1757011179.570 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:39.842Z,1757011179.842 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:40.026Z,1757011180.026 [DAT](INFO): DAT read: Rx Time:18:39:38.8228 

2025-09-04T18:39:40.026Z,1757011180.026 [DAT](INFO): Rx dataTimestamp_ set to:1757011180.025802
2025-09-04T18:39:40.027Z,1757011180.027 [DAT](INFO): DAT read: Bearing 161.2, -64.5 (Local)

2025-09-04T18:39:40.028Z,1757011180.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2, -64.5 (Local)

2025-09-04T18:39:40.030Z,1757011180.030 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-09-04T18:39:40.034Z,1757011180.034 [DAT](INFO): DAT read: 18:39:38.8228 LVL= 32752, 32753, 32738, 32755, AGC= 52, IDX= 508,-0.28,-1.938,-0.515,-0.181,-1.153, PHS=-0.682, 0.683, 0.928, RAW= 261.9, -12.3, CAL= 261.5, -18.0, ROT= 248.5,  18.0

2025-09-04T18:39:40.035Z,1757011180.035 [DAT](INFO): got valid direction response:
 18:39:38.8228 LVL= 32752, 32753, 32738, 32755, AGC= 52, IDX= 508,-0.28,-1.938,-0.515,-0.181,-1.153, PHS=-0.682, 0.683, 0.928, RAW= 261.9, -12.3, CAL= 261.5, -18.0, ROT= 248.5,  18.0

2025-09-04T18:39:40.036Z,1757011180.036 [DAT](INFO): #Rx 148: Read range and direction messages.
2025-09-04T18:39:40.037Z,1757011180.037 [DAT](INFO): direction in FSK: [-0.348563,-0.884880,-0.309017]
2025-09-04T18:39:40.037Z,1757011180.037 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:40.293Z,1757011180.293 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-09-04T18:39:40.530Z,1757011180.530 [DAT](INFO): DAT read: Rx Time:18:39:39.3227 

2025-09-04T18:39:40.531Z,1757011180.531 [DAT](INFO): Rx dataTimestamp_ set to:1757011180.530350
2025-09-04T18:39:40.533Z,1757011180.533 [DAT](INFO): DAT read: Bearing 162.9, -64.1 (Local)

2025-09-04T18:39:40.533Z,1757011180.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 162.9, -64.1 (Local)

2025-09-04T18:39:40.535Z,1757011180.535 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.0

2025-09-04T18:39:40.546Z,1757011180.546 [DAT](INFO): DAT read: 18:39:39.3227 LVL= 32752, 32753, 32242, 32755, AGC= 53, IDX= 507, 0.09,-2.125,-0.685,-0.358,-1.351, PHS=-0.672, 0.711, 0.949, RAW= 262.2, -13.0, CAL= 261.9, -18.7, ROT= 248.1,  18.7

2025-09-04T18:39:40.547Z,1757011180.547 [DAT](INFO): got valid direction response:
 18:39:39.3227 LVL= 32752, 32753, 32242, 32755, AGC= 53, IDX= 507, 0.09,-2.125,-0.685,-0.358,-1.351, PHS=-0.672, 0.711, 0.949, RAW= 262.2, -13.0, CAL= 261.9, -18.7, ROT= 248.1,  18.7

2025-09-04T18:39:40.547Z,1757011180.547 [DAT](INFO): #Rx 149: Read range and direction messages.
2025-09-04T18:39:40.548Z,1757011180.548 [DAT](INFO): direction in FSK: [-0.353298,-0.878856,-0.320613]
2025-09-04T18:39:40.548Z,1757011180.548 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:41.033Z,1757011181.033 [DAT](INFO): DAT read: Rx Time:18:39:39.8228 

2025-09-04T18:39:41.034Z,1757011181.034 [DAT](INFO): Rx dataTimestamp_ set to:1757011181.033614
2025-09-04T18:39:41.035Z,1757011181.035 [DAT](INFO): DAT read: Bearing 161.6, -64.0 (Local)

2025-09-04T18:39:41.035Z,1757011181.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6, -64.0 (Local)

2025-09-04T18:39:41.038Z,1757011181.038 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed -0.1

2025-09-04T18:39:41.042Z,1757011181.042 [DAT](INFO): DAT read: 18:39:39.8228 LVL= 32752, 30977, 28850, 32755, AGC= 54, IDX= 509,-0.43,-2.779,-1.283,-0.980,-1.975, PHS=-0.702, 0.737, 0.952, RAW= 263.1, -12.6, CAL= 262.9, -18.3, ROT= 247.1,  18.3

2025-09-04T18:39:41.043Z,1757011181.043 [DAT](INFO): got valid direction response:
 18:39:39.8228 LVL= 32752, 30977, 28850, 32755, AGC= 54, IDX= 509,-0.43,-2.779,-1.283,-0.980,-1.975, PHS=-0.702, 0.737, 0.952, RAW= 263.1, -12.6, CAL= 262.9, -18.3, ROT= 247.1,  18.3

2025-09-04T18:39:41.044Z,1757011181.044 [DAT](INFO): #Rx 150: Read range and direction messages.
2025-09-04T18:39:41.045Z,1757011181.045 [DAT](INFO): direction in FSK: [-0.369444,-0.874597,-0.313992]
2025-09-04T18:39:41.045Z,1757011181.045 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:41.538Z,1757011181.538 [DAT](INFO): DAT read: Rx Time:18:39:40.3228 

2025-09-04T18:39:41.539Z,1757011181.539 [DAT](INFO): Rx dataTimestamp_ set to:1757011181.538485
2025-09-04T18:39:41.541Z,1757011181.541 [DAT](INFO): DAT read: Bearing 160.4, -64.5 (Local)

2025-09-04T18:39:41.541Z,1757011181.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.4, -64.5 (Local)

2025-09-04T18:39:41.553Z,1757011181.553 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.0

2025-09-04T18:39:41.571Z,1757011181.571 [DAT](INFO): DAT read: 18:39:40.3228 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508,-0.06, 2.531,-2.254,-1.961,-2.933, PHS=-0.718, 0.724, 0.928, RAW= 263.5, -12.0, CAL= 263.1, -17.7, ROT= 246.9,  17.7

2025-09-04T18:39:41.574Z,1757011181.574 [DAT](INFO): got valid direction response:
 18:39:40.3228 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508,-0.06, 2.531,-2.254,-1.961,-2.933, PHS=-0.718, 0.724, 0.928, RAW= 263.5, -12.0, CAL= 263.1, -17.7, ROT= 246.9,  17.7

2025-09-04T18:39:41.574Z,1757011181.574 [DAT](INFO): #Rx 151: Read range and direction messages.
2025-09-04T18:39:41.575Z,1757011181.575 [DAT](INFO): direction in FSK: [-0.373764,-0.876279,-0.304033]
2025-09-04T18:39:41.575Z,1757011181.575 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:42.042Z,1757011182.042 [DAT](INFO): DAT read: Rx Time:18:39:40.8229 

2025-09-04T18:39:42.042Z,1757011182.042 [DAT](INFO): Rx dataTimestamp_ set to:1757011182.041816
2025-09-04T18:39:42.045Z,1757011182.045 [DAT](INFO): DAT read: Bearing 160.9, -64.9 (Local)

2025-09-04T18:39:42.045Z,1757011182.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 160.9, -64.9 (Local)

2025-09-04T18:39:42.048Z,1757011182.048 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-09-04T18:39:42.061Z,1757011182.061 [DAT](INFO): DAT read: 18:39:40.8229 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 509, 0.24,-0.230, 1.287, 1.582, 0.592, PHS=-0.721, 0.739, 0.946, RAW= 263.5, -12.2, CAL= 263.1, -17.9, ROT= 246.9,  17.9

2025-09-04T18:39:42.062Z,1757011182.062 [DAT](INFO): got valid direction response:
 18:39:40.8229 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 509, 0.24,-0.230, 1.287, 1.582, 0.592, PHS=-0.721, 0.739, 0.946, RAW= 263.5, -12.2, CAL= 263.1, -17.9, ROT= 246.9,  17.9

2025-09-04T18:39:42.063Z,1757011182.063 [DAT](INFO): #Rx 152: Read range and direction messages.
2025-09-04T18:39:42.068Z,1757011182.068 [DAT](INFO): direction in FSK: [-0.373346,-0.875297,-0.307357]
2025-09-04T18:39:42.068Z,1757011182.068 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:42.546Z,1757011182.546 [DAT](INFO): DAT read: Rx Time:18:39:41.3229 

2025-09-04T18:39:42.546Z,1757011182.546 [DAT](INFO): Rx dataTimestamp_ set to:1757011182.545914
2025-09-04T18:39:42.548Z,1757011182.548 [DAT](INFO): DAT read: Bearing 156.9, -65.5 (Local)

2025-09-04T18:39:42.553Z,1757011182.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9, -65.5 (Local)

2025-09-04T18:39:42.555Z,1757011182.555 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-09-04T18:39:42.559Z,1757011182.559 [DAT](INFO): DAT read: 18:39:41.3229 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 509,-0.27, 2.973,-1.771,-1.502,-2.443, PHS=-0.765, 0.717, 0.897, RAW= 264.3, -10.7, CAL= 263.7, -16.3, ROT= 246.3,  16.3

2025-09-04T18:39:42.561Z,1757011182.561 [DAT](INFO): got valid direction response:
 18:39:41.3229 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 509,-0.27, 2.973,-1.771,-1.502,-2.443, PHS=-0.765, 0.717, 0.897, RAW= 264.3, -10.7, CAL= 263.7, -16.3, ROT= 246.3,  16.3

2025-09-04T18:39:42.561Z,1757011182.561 [DAT](INFO): #Rx 153: Read range and direction messages.
2025-09-04T18:39:42.562Z,1757011182.562 [DAT](INFO): direction in FSK: [-0.385791,-0.878858,-0.280667]
2025-09-04T18:39:42.562Z,1757011182.562 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:43.050Z,1757011183.050 [DAT](INFO): DAT read: Rx Time:18:39:41.8230 

2025-09-04T18:39:43.050Z,1757011183.050 [DAT](INFO): Rx dataTimestamp_ set to:1757011183.049923
2025-09-04T18:39:43.051Z,1757011183.051 [DAT](INFO): DAT read: Bearing 155.5, -65.6 (Local)

2025-09-04T18:39:43.052Z,1757011183.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5, -65.6 (Local)

2025-09-04T18:39:43.054Z,1757011183.054 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-09-04T18:39:43.059Z,1757011183.059 [DAT](INFO): DAT read: 18:39:41.8230 LVL= 32752, 32753, 31666, 32755, AGC= 54, IDX= 510, 0.07,-1.296, 0.293, 0.548,-0.395, PHS=-0.799, 0.733, 0.899, RAW= 264.9, -10.3, CAL= 264.3, -15.9, ROT= 245.7,  15.9

2025-09-04T18:39:43.060Z,1757011183.060 [DAT](INFO): got valid direction response:
 18:39:41.8230 LVL= 32752, 32753, 31666, 32755, AGC= 54, IDX= 510, 0.07,-1.296, 0.293, 0.548,-0.395, PHS=-0.799, 0.733, 0.899, RAW= 264.9, -10.3, CAL= 264.3, -15.9, ROT= 245.7,  15.9

2025-09-04T18:39:43.060Z,1757011183.060 [DAT](INFO): #Rx 154: Read range and direction messages.
2025-09-04T18:39:43.061Z,1757011183.061 [DAT](INFO): direction in FSK: [-0.395771,-0.876534,-0.273959]
2025-09-04T18:39:43.062Z,1757011183.062 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:43.554Z,1757011183.554 [DAT](INFO): DAT read: Rx Time:18:39:42.3229 

2025-09-04T18:39:43.554Z,1757011183.554 [DAT](INFO): Rx dataTimestamp_ set to:1757011183.553760
2025-09-04T18:39:43.555Z,1757011183.555 [DAT](INFO): DAT read: Bearing 152.3, -65.8 (Local)

2025-09-04T18:39:43.556Z,1757011183.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.3, -65.8 (Local)

2025-09-04T18:39:43.558Z,1757011183.558 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-09-04T18:39:43.565Z,1757011183.565 [DAT](INFO): DAT read: 18:39:42.3229 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.36,-1.249, 0.354, 0.590,-0.319, PHS=-0.828, 0.719, 0.865, RAW= 265.5,  -9.3, CAL= 264.7, -14.9, ROT= 245.3,  14.9

2025-09-04T18:39:43.567Z,1757011183.567 [DAT](INFO): got valid direction response:
 18:39:42.3229 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.36,-1.249, 0.354, 0.590,-0.319, PHS=-0.828, 0.719, 0.865, RAW= 265.5,  -9.3, CAL= 264.7, -14.9, ROT= 245.3,  14.9

2025-09-04T18:39:43.567Z,1757011183.567 [DAT](INFO): #Rx 155: Read range and direction messages.
2025-09-04T18:39:43.569Z,1757011183.569 [DAT](INFO): direction in FSK: [-0.403817,-0.877961,-0.257133]
2025-09-04T18:39:43.569Z,1757011183.569 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:44.058Z,1757011184.058 [DAT](INFO): DAT read: Rx Time:18:39:42.8230 

2025-09-04T18:39:44.058Z,1757011184.058 [DAT](INFO): Rx dataTimestamp_ set to:1757011184.057738
2025-09-04T18:39:44.059Z,1757011184.059 [DAT](INFO): DAT read: Bearing 148.6, -66.1 (Local)

2025-09-04T18:39:44.060Z,1757011184.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.6, -66.1 (Local)

2025-09-04T18:39:44.062Z,1757011184.062 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-09-04T18:39:44.066Z,1757011184.066 [DAT](INFO): DAT read: 18:39:42.8230 LVL= 32752, 32753, 29426, 32755, AGC= 53, IDX= 510,-0.24, 2.919,-1.728,-1.499,-2.395, PHS=-0.868, 0.712, 0.852, RAW= 265.8,  -8.5, CAL= 264.9, -14.0, ROT= 245.1,  14.0

2025-09-04T18:39:44.067Z,1757011184.067 [DAT](INFO): got valid direction response:
 18:39:42.8230 LVL= 32752, 32753, 29426, 32755, AGC= 53, IDX= 510,-0.24, 2.919,-1.728,-1.499,-2.395, PHS=-0.868, 0.712, 0.852, RAW= 265.8,  -8.5, CAL= 264.9, -14.0, ROT= 245.1,  14.0

2025-09-04T18:39:44.068Z,1757011184.068 [DAT](INFO): #Rx 156: Read range and direction messages.
2025-09-04T18:39:44.069Z,1757011184.069 [DAT](INFO): direction in FSK: [-0.408529,-0.880101,-0.241922]
2025-09-04T18:39:44.069Z,1757011184.069 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:44.562Z,1757011184.562 [DAT](INFO): DAT read: Rx Time:18:39:43.3229 

2025-09-04T18:39:44.562Z,1757011184.562 [DAT](INFO): Rx dataTimestamp_ set to:1757011184.561917
2025-09-04T18:39:44.563Z,1757011184.563 [DAT](INFO): DAT read: Bearing 147.5, -67.0 (Local)

2025-09-04T18:39:44.564Z,1757011184.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.5, -67.0 (Local)

2025-09-04T18:39:44.566Z,1757011184.566 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-09-04T18:39:44.571Z,1757011184.571 [DAT](INFO): DAT read: 18:39:43.3229 LVL= 32752, 32753, 26194, 32755, AGC= 53, IDX= 509,-0.05, 2.824,-1.796,-1.535,-2.466, PHS=-0.891, 0.715, 0.887, RAW= 265.0,  -8.4, CAL= 264.0, -13.9, ROT= 246.0,  13.9

2025-09-04T18:39:44.572Z,1757011184.572 [DAT](INFO): got valid direction response:
 18:39:43.3229 LVL= 32752, 32753, 26194, 32755, AGC= 53, IDX= 509,-0.05, 2.824,-1.796,-1.535,-2.466, PHS=-0.891, 0.715, 0.887, RAW= 265.0,  -8.4, CAL= 264.0, -13.9, ROT= 246.0,  13.9

2025-09-04T18:39:44.572Z,1757011184.572 [DAT](INFO): #Rx 157: Read range and direction messages.
2025-09-04T18:39:44.573Z,1757011184.573 [DAT](INFO): direction in FSK: [-0.394826,-0.886794,-0.240228]
2025-09-04T18:39:44.573Z,1757011184.573 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:45.066Z,1757011185.066 [DAT](INFO): DAT read: Rx Time:18:39:43.8230 

2025-09-04T18:39:45.066Z,1757011185.066 [DAT](INFO): Rx dataTimestamp_ set to:1757011185.065861
2025-09-04T18:39:45.067Z,1757011185.067 [DAT](INFO): DAT read: Bearing 148.1, -67.4 (Local)

2025-09-04T18:39:45.068Z,1757011185.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 148.1, -67.4 (Local)

2025-09-04T18:39:45.070Z,1757011185.070 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-09-04T18:39:45.075Z,1757011185.075 [DAT](INFO): DAT read: 18:39:43.8230 LVL= 32752, 29521, 25970, 32755, AGC= 53, IDX= 510, 0.12, 0.117, 1.802, 2.085, 1.117, PHS=-0.898, 0.730, 0.924, RAW= 264.4,  -8.8, CAL= 263.5, -14.3, ROT= 246.5,  14.3

2025-09-04T18:39:45.076Z,1757011185.076 [DAT](INFO): got valid direction response:
 18:39:43.8230 LVL= 32752, 29521, 25970, 32755, AGC= 53, IDX= 510, 0.12, 0.117, 1.802, 2.085, 1.117, PHS=-0.898, 0.730, 0.924, RAW= 264.4,  -8.8, CAL= 263.5, -14.3, ROT= 246.5,  14.3

2025-09-04T18:39:45.076Z,1757011185.076 [DAT](INFO): #Rx 158: Read range and direction messages.
2025-09-04T18:39:45.077Z,1757011185.077 [DAT](INFO): direction in FSK: [-0.386394,-0.888646,-0.246999]
2025-09-04T18:39:45.078Z,1757011185.078 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:45.570Z,1757011185.570 [DAT](INFO): DAT read: Rx Time:18:39:44.3229 

2025-09-04T18:39:45.571Z,1757011185.571 [DAT](INFO): Rx dataTimestamp_ set to:1757011185.570513
2025-09-04T18:39:45.573Z,1757011185.573 [DAT](INFO): DAT read: Bearing 149.7, -66.8 (Local)

2025-09-04T18:39:45.573Z,1757011185.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.7, -66.8 (Local)

2025-09-04T18:39:45.585Z,1757011185.585 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.0

2025-09-04T18:39:45.599Z,1757011185.599 [DAT](INFO): DAT read: 18:39:44.3229 LVL= 32752, 30449, 25522, 32755, AGC= 53, IDX= 509, 0.36,-0.725, 0.967, 1.242, 0.266, PHS=-0.889, 0.746, 0.932, RAW= 264.7,  -9.1, CAL= 263.8, -14.6, ROT= 246.2,  14.6

2025-09-04T18:39:45.600Z,1757011185.600 [DAT](INFO): got valid direction response:
 18:39:44.3229 LVL= 32752, 30449, 25522, 32755, AGC= 53, IDX= 509, 0.36,-0.725, 0.967, 1.242, 0.266, PHS=-0.889, 0.746, 0.932, RAW= 264.7,  -9.1, CAL= 263.8, -14.6, ROT= 246.2,  14.6

2025-09-04T18:39:45.601Z,1757011185.601 [DAT](INFO): #Rx 159: Read range and direction messages.
2025-09-04T18:39:45.601Z,1757011185.601 [DAT](INFO): direction in FSK: [-0.390515,-0.885415,-0.252069]
2025-09-04T18:39:45.602Z,1757011185.602 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:46.074Z,1757011186.074 [DAT](INFO): DAT read: Rx Time:18:39:44.8231 

2025-09-04T18:39:46.074Z,1757011186.074 [DAT](INFO): Rx dataTimestamp_ set to:1757011186.073856
2025-09-04T18:39:46.075Z,1757011186.075 [DAT](INFO): DAT read: Bearing 152.2, -65.1 (Local)

2025-09-04T18:39:46.076Z,1757011186.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.2, -65.1 (Local)

2025-09-04T18:39:46.078Z,1757011186.078 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-09-04T18:39:46.082Z,1757011186.082 [DAT](INFO): DAT read: 18:39:44.8231 LVL= 32752, 29681, 27970, 32755, AGC= 53, IDX= 511,-0.26,-1.239, 0.492, 0.726,-0.250, PHS=-0.887, 0.787, 0.931, RAW= 265.9,  -9.5, CAL= 265.2, -15.1, ROT= 244.8,  15.1

2025-09-04T18:39:46.083Z,1757011186.083 [DAT](INFO): got valid direction response:
 18:39:44.8231 LVL= 32752, 29681, 27970, 32755, AGC= 53, IDX= 511,-0.26,-1.239, 0.492, 0.726,-0.250, PHS=-0.887, 0.787, 0.931, RAW= 265.9,  -9.5, CAL= 265.2, -15.1, ROT= 244.8,  15.1

2025-09-04T18:39:46.084Z,1757011186.084 [DAT](INFO): #Rx 160: Read range and direction messages.
2025-09-04T18:39:46.085Z,1757011186.085 [DAT](INFO): direction in FSK: [-0.411078,-0.873586,-0.260505]
2025-09-04T18:39:46.085Z,1757011186.085 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:46.579Z,1757011186.579 [DAT](INFO): DAT read: Rx Time:18:39:45.3230 

2025-09-04T18:39:46.579Z,1757011186.579 [DAT](INFO): Rx dataTimestamp_ set to:1757011186.578842
2025-09-04T18:39:46.581Z,1757011186.581 [DAT](INFO): DAT read: Bearing 155.8, -63.6 (Local)

2025-09-04T18:39:46.581Z,1757011186.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.8, -63.6 (Local)

2025-09-04T18:39:46.583Z,1757011186.583 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-09-04T18:39:46.604Z,1757011186.604 [DAT](INFO): DAT read: 18:39:45.3230 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510,-0.03,-1.903,-0.198, 0.002,-0.950, PHS=-0.851, 0.797, 0.908, RAW= 266.8, -10.0, CAL= 266.2, -15.6, ROT= 243.8,  15.6

2025-09-04T18:39:46.606Z,1757011186.606 [DAT](INFO): got valid direction response:
 18:39:45.3230 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 510,-0.03,-1.903,-0.198, 0.002,-0.950, PHS=-0.851, 0.797, 0.908, RAW= 266.8, -10.0, CAL= 266.2, -15.6, ROT= 243.8,  15.6

2025-09-04T18:39:46.606Z,1757011186.606 [DAT](INFO): #Rx 161: Read range and direction messages.
2025-09-04T18:39:46.607Z,1757011186.607 [DAT](INFO): direction in FSK: [-0.425242,-0.864206,-0.268920]
2025-09-04T18:39:46.607Z,1757011186.607 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:47.084Z,1757011187.084 [DAT](INFO): DAT read: Rx Time:18:39:45.8230 

2025-09-04T18:39:47.084Z,1757011187.084 [DAT](INFO): Rx dataTimestamp_ set to:1757011187.084152
2025-09-04T18:39:47.086Z,1757011187.086 [DAT](INFO): DAT read: Bearing 161.3, -61.7 (Local)

2025-09-04T18:39:47.086Z,1757011187.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.3, -61.7 (Local)

2025-09-04T18:39:47.092Z,1757011187.092 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.0

2025-09-04T18:39:47.101Z,1757011187.101 [DAT](INFO): DAT read: 18:39:45.8230 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510, 0.20,-0.633, 1.088, 1.259, 0.278, PHS=-0.810, 0.855, 0.937, RAW= 267.6, -11.5, CAL= 267.3, -17.1, ROT= 242.7,  17.1

2025-09-04T18:39:47.103Z,1757011187.103 [DAT](INFO): got valid direction response:
 18:39:45.8230 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510, 0.20,-0.633, 1.088, 1.259, 0.278, PHS=-0.810, 0.855, 0.937, RAW= 267.6, -11.5, CAL= 267.3, -17.1, ROT= 242.7,  17.1

2025-09-04T18:39:47.103Z,1757011187.103 [DAT](INFO): #Rx 162: Read range and direction messages.
2025-09-04T18:39:47.104Z,1757011187.104 [DAT](INFO): direction in FSK: [-0.438374,-0.849334,-0.294040]
2025-09-04T18:39:47.104Z,1757011187.104 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:47.520Z,1757011187.520 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-09-04T18:39:47.591Z,1757011187.591 [DAT](INFO): DAT read: Rx Time:18:39:46.3229 

2025-09-04T18:39:47.591Z,1757011187.591 [DAT](INFO): Rx dataTimestamp_ set to:1757011187.590688
2025-09-04T18:39:47.593Z,1757011187.593 [DAT](INFO): DAT read: Bearing 165.1, -59.9 (Local)

2025-09-04T18:39:47.593Z,1757011187.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 165.1, -59.9 (Local)

2025-09-04T18:39:47.596Z,1757011187.596 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed -0.1

2025-09-04T18:39:47.602Z,1757011187.602 [DAT](INFO): DAT read: 18:39:46.3229 LVL= 32752, 32177, 30034, 32755, AGC= 53, IDX= 510,-0.39, 2.903,-1.657,-1.511,-2.501, PHS=-0.777, 0.888, 0.946, RAW= 268.3, -12.4, CAL= 268.1, -18.0, ROT= 241.9,  18.0

2025-09-04T18:39:47.603Z,1757011187.603 [DAT](INFO): got valid direction response:
 18:39:46.3229 LVL= 32752, 32177, 30034, 32755, AGC= 53, IDX= 510,-0.39, 2.903,-1.657,-1.511,-2.501, PHS=-0.777, 0.888, 0.946, RAW= 268.3, -12.4, CAL= 268.1, -18.0, ROT= 241.9,  18.0

2025-09-04T18:39:47.603Z,1757011187.603 [DAT](INFO): #Rx 163: Read range and direction messages.
2025-09-04T18:39:47.613Z,1757011187.613 [DAT](INFO): direction in FSK: [-0.447959,-0.838953,-0.309017]
2025-09-04T18:39:47.613Z,1757011187.613 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:47.636Z,1757011187.636 [DAT](INFO): ****** received valid address query ******
2025-09-04T18:39:47.637Z,1757011187.637 [DAT](INFO): ****** received valid ping request ******
2025-09-04T18:39:47.637Z,1757011187.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:47.841Z,1757011187.841 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:47.841Z,1757011187.841 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:47.841Z,1757011187.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:48.094Z,1757011188.094 [DAT](INFO): DAT read: Rx Time:18:39:46.8231 

2025-09-04T18:39:48.094Z,1757011188.094 [DAT](INFO): Rx dataTimestamp_ set to:1757011188.094049
2025-09-04T18:39:48.096Z,1757011188.096 [DAT](INFO): DAT read: Bearing 167.6, -58.7 (Local)

2025-09-04T18:39:48.096Z,1757011188.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.6, -58.7 (Local)

2025-09-04T18:39:48.098Z,1757011188.098 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-09-04T18:39:48.104Z,1757011188.104 [DAT](INFO): DAT read: 18:39:46.8231 LVL= 30448, 25905, 25506, 28579, AGC= 52, IDX= 511,-0.09,-2.205,-0.487,-0.358,-1.345, PHS=-0.759, 0.903, 0.943, RAW= 268.8, -12.9, CAL= 268.7, -18.5, ROT= 241.3,  18.5

2025-09-04T18:39:48.107Z,1757011188.107 [DAT](INFO): got valid direction response:
 18:39:46.8231 LVL= 30448, 25905, 25506, 28579, AGC= 52, IDX= 511,-0.09,-2.205,-0.487,-0.358,-1.345, PHS=-0.759, 0.903, 0.943, RAW= 268.8, -12.9, CAL= 268.7, -18.5, ROT= 241.3,  18.5

2025-09-04T18:39:48.108Z,1757011188.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:48.109Z,1757011188.109 [DAT](INFO): direction in FSK: [-0.455407,-0.831819,-0.317305]
2025-09-04T18:39:48.109Z,1757011188.109 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:48.117Z,1757011188.117 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:48.117Z,1757011188.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:48.372Z,1757011188.372 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:48.372Z,1757011188.372 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:48.373Z,1757011188.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:48.608Z,1757011188.608 [DAT](INFO): DAT read: Rx Time:18:39:47.3230 

2025-09-04T18:39:48.608Z,1757011188.608 [DAT](INFO): Rx dataTimestamp_ set to:1757011188.607951
2025-09-04T18:39:48.610Z,1757011188.610 [DAT](INFO): DAT read: Bearing 169.9, -57.8 (Local)

2025-09-04T18:39:48.610Z,1757011188.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.9, -57.8 (Local)

2025-09-04T18:39:48.613Z,1757011188.613 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed -0.1

2025-09-04T18:39:48.618Z,1757011188.618 [DAT](INFO): DAT read: 18:39:47.3230 LVL= 31824, 26017, 24802, 27907, AGC= 52, IDX= 510, 0.14,-2.047,-0.333,-0.215,-1.208, PHS=-0.737, 0.920, 0.949, RAW= 269.1, -13.5, CAL= 269.1, -19.1, ROT= 240.9,  19.1

2025-09-04T18:39:48.619Z,1757011188.619 [DAT](INFO): got valid direction response:
 18:39:47.3230 LVL= 31824, 26017, 24802, 27907, AGC= 52, IDX= 510, 0.14,-2.047,-0.333,-0.215,-1.208, PHS=-0.737, 0.920, 0.949, RAW= 269.1, -13.5, CAL= 269.1, -19.1, ROT= 240.9,  19.1

2025-09-04T18:39:48.619Z,1757011188.619 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:48.620Z,1757011188.620 [DAT](INFO): direction in FSK: [-0.459562,-0.825670,-0.327218]
2025-09-04T18:39:48.621Z,1757011188.621 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:48.648Z,1757011188.648 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:48.648Z,1757011188.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:48.861Z,1757011188.861 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:48.861Z,1757011188.861 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:48.861Z,1757011188.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:49.114Z,1757011189.114 [DAT](INFO): DAT read: Rx Time:18:39:47.8231 

2025-09-04T18:39:49.114Z,1757011189.114 [DAT](INFO): Rx dataTimestamp_ set to:1757011189.113941
2025-09-04T18:39:49.115Z,1757011189.115 [DAT](INFO): DAT read: Bearing 183.4, -52.7 (Local)

2025-09-04T18:39:49.116Z,1757011189.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.4, -52.7 (Local)

2025-09-04T18:39:49.118Z,1757011189.118 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-09-04T18:39:49.123Z,1757011189.123 [DAT](INFO): DAT read: 18:39:47.8231 LVL= 28096, 23377, 21042, 26147, AGC= 51, IDX= 512,-0.46, 2.533,-1.955,-1.904, 3.090, PHS=-0.456, 1.283, 1.244, RAW= 271.1, -23.1, CAL= 270.1, -27.7, ROT= 239.9,  27.7

2025-09-04T18:39:49.125Z,1757011189.125 [DAT](INFO): got valid direction response:
 18:39:47.8231 LVL= 28096, 23377, 21042, 26147, AGC= 51, IDX= 512,-0.46, 2.533,-1.955,-1.904, 3.090, PHS=-0.456, 1.283, 1.244, RAW= 271.1, -23.1, CAL= 270.1, -27.7, ROT= 239.9,  27.7

2025-09-04T18:39:49.125Z,1757011189.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:49.126Z,1757011189.126 [DAT](INFO): direction in FSK: [-0.444035,-0.765999,-0.464842]
2025-09-04T18:39:49.127Z,1757011189.127 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:49.130Z,1757011189.130 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:49.130Z,1757011189.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:49.365Z,1757011189.365 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:49.365Z,1757011189.365 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:49.366Z,1757011189.366 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:49.618Z,1757011189.618 [DAT](INFO): DAT read: Rx Time:18:39:48.3231 

2025-09-04T18:39:49.619Z,1757011189.619 [DAT](INFO): Rx dataTimestamp_ set to:1757011189.618515
2025-09-04T18:39:49.621Z,1757011189.621 [DAT](INFO): DAT read: Bearing 170.5, -57.2 (Local)

2025-09-04T18:39:49.621Z,1757011189.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.5, -57.2 (Local)

2025-09-04T18:39:49.626Z,1757011189.626 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed -0.1

2025-09-04T18:39:49.647Z,1757011189.647 [DAT](INFO): DAT read: 18:39:48.3231 LVL= 30240, 24737, 23650, 28915, AGC= 52, IDX= 511,-0.10, 2.452,-2.100,-1.997,-2.978, PHS=-0.751, 0.923, 0.937, RAW= 269.6, -13.1, CAL= 269.5, -18.7, ROT= 240.5,  18.7

2025-09-04T18:39:49.651Z,1757011189.651 [DAT](INFO): got valid direction response:
 18:39:48.3231 LVL= 30240, 24737, 23650, 28915, AGC= 52, IDX= 511,-0.10, 2.452,-2.100,-1.997,-2.978, PHS=-0.751, 0.923, 0.937, RAW= 269.6, -13.1, CAL= 269.5, -18.7, ROT= 240.5,  18.7

2025-09-04T18:39:49.651Z,1757011189.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:49.660Z,1757011189.660 [DAT](INFO): direction in FSK: [-0.466429,-0.824410,-0.320613]
2025-09-04T18:39:49.660Z,1757011189.660 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:49.664Z,1757011189.664 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:49.672Z,1757011189.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:49.869Z,1757011189.869 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:49.869Z,1757011189.869 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:49.869Z,1757011189.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:50.128Z,1757011190.128 [DAT](INFO): DAT read: Rx Time:18:39:48.8232 

2025-09-04T18:39:50.132Z,1757011190.132 [DAT](INFO): Rx dataTimestamp_ set to:1757011190.130581
2025-09-04T18:39:50.135Z,1757011190.135 [DAT](INFO): DAT read: Bearing 173.3, -51.2 (Local)

2025-09-04T18:39:50.138Z,1757011190.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.3, -51.2 (Local)

2025-09-04T18:39:50.144Z,1757011190.144 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed -0.1

2025-09-04T18:39:50.185Z,1757011190.185 [DAT](INFO): DAT read: 18:39:48.8232 LVL= 27184, 23185, 21090, 28867, AGC= 51, IDX= 512, 0.14,-2.571,-1.134,-1.175,-1.973, PHS=-0.496, 0.884, 0.754, RAW= 274.9, -17.0, CAL= 274.9, -22.3, ROT= 235.1,  22.3

2025-09-04T18:39:50.186Z,1757011190.186 [DAT](INFO): got valid direction response:
 18:39:48.8232 LVL= 27184, 23185, 21090, 28867, AGC= 51, IDX= 512, 0.14,-2.571,-1.134,-1.175,-1.973, PHS=-0.496, 0.884, 0.754, RAW= 274.9, -17.0, CAL= 274.9, -22.3, ROT= 235.1,  22.3

2025-09-04T18:39:50.187Z,1757011190.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:50.200Z,1757011190.200 [DAT](INFO): direction in FSK: [-0.529355,-0.758813,-0.379456]
2025-09-04T18:39:50.200Z,1757011190.200 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:50.214Z,1757011190.214 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:50.214Z,1757011190.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:50.373Z,1757011190.373 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:50.374Z,1757011190.374 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:50.374Z,1757011190.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:50.626Z,1757011190.626 [DAT](INFO): DAT read: Rx Time:18:39:49.3231 

2025-09-04T18:39:50.626Z,1757011190.626 [DAT](INFO): Rx dataTimestamp_ set to:1757011190.625838
2025-09-04T18:39:50.627Z,1757011190.627 [DAT](INFO): DAT read: Bearing 155.2, -56.9 (Local)

2025-09-04T18:39:50.628Z,1757011190.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.2, -56.9 (Local)

2025-09-04T18:39:50.630Z,1757011190.630 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-09-04T18:39:50.643Z,1757011190.643 [DAT](INFO): DAT read: 18:39:49.3231 LVL= 32752, 28689, 25682, 31395, AGC= 53, IDX= 512,-0.48, 0.979, 2.727, 2.723, 2.048, PHS=-0.967, 0.723, 0.631, RAW= 272.8,  -4.8, CAL= 271.8, -10.3, ROT= 238.2,  10.3

2025-09-04T18:39:50.644Z,1757011190.644 [DAT](INFO): got valid direction response:
 18:39:49.3231 LVL= 32752, 28689, 25682, 31395, AGC= 53, IDX= 512,-0.48, 0.979, 2.727, 2.723, 2.048, PHS=-0.967, 0.723, 0.631, RAW= 272.8,  -4.8, CAL= 271.8, -10.3, ROT= 238.2,  10.3

2025-09-04T18:39:50.645Z,1757011190.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:50.646Z,1757011190.646 [DAT](INFO): direction in FSK: [-0.518464,-0.836197,-0.178802]
2025-09-04T18:39:50.647Z,1757011190.647 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:50.650Z,1757011190.650 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:50.650Z,1757011190.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:50.877Z,1757011190.877 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:50.877Z,1757011190.877 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:50.878Z,1757011190.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:51.130Z,1757011191.130 [DAT](INFO): DAT read: Rx Time:18:39:49.8232 

2025-09-04T18:39:51.130Z,1757011191.130 [DAT](INFO): Rx dataTimestamp_ set to:1757011191.130188
2025-09-04T18:39:51.133Z,1757011191.133 [DAT](INFO): DAT read: Bearing 154.4, -61.0 (Local)

2025-09-04T18:39:51.133Z,1757011191.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.4, -61.0 (Local)

2025-09-04T18:39:51.135Z,1757011191.135 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-09-04T18:39:51.140Z,1757011191.140 [DAT](INFO): DAT read: 18:39:49.8232 LVL= 32752, 29617, 26210, 32755, AGC= 54, IDX= 512,-0.11, 0.560, 2.406, 2.530, 1.754, PHS=-1.091, 0.698, 0.732, RAW= 269.1,  -3.8, CAL= 267.7,  -9.3, ROT= 242.3,   9.3

2025-09-04T18:39:51.141Z,1757011191.141 [DAT](INFO): got valid direction response:
 18:39:49.8232 LVL= 32752, 29617, 26210, 32755, AGC= 54, IDX= 512,-0.11, 0.560, 2.406, 2.530, 1.754, PHS=-1.091, 0.698, 0.732, RAW= 269.1,  -3.8, CAL= 267.7,  -9.3, ROT= 242.3,   9.3

2025-09-04T18:39:51.141Z,1757011191.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:51.142Z,1757011191.142 [DAT](INFO): direction in FSK: [-0.458732,-0.873756,-0.161604]
2025-09-04T18:39:51.143Z,1757011191.143 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:51.146Z,1757011191.146 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:51.146Z,1757011191.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:51.381Z,1757011191.381 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:51.381Z,1757011191.381 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:51.381Z,1757011191.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:51.635Z,1757011191.635 [DAT](INFO): DAT read: Rx im:18:39:50.3231 

2025-09-04T18:39:51.635Z,1757011191.635 [DAT](INFO): unknown deviceResponse_: Rx im:18:39:50.3231 

2025-09-04T18:39:51.651Z,1757011191.651 [DAT](INFO): DAT read: Bearing 173.6, -56.2 (Local)

2025-09-04T18:39:51.651Z,1757011191.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.6, -56.2 (Local)

2025-09-04T18:39:51.654Z,1757011191.654 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-09-04T18:39:51.679Z,1757011191.679 [DAT](INFO): DAT read: 18:39:50.3231 LVL= 31472, 27473, 23874, 30899, AGC= 53, IDX= 511, 0.11, 3.044,-1.523,-1.430,-2.426, PHS=-0.711, 0.948, 0.953, RAW= 269.9, -14.2, CAL= 270.0, -19.8, ROT= 240.0,  19.8

2025-09-04T18:39:51.685Z,1757011191.685 [DAT](INFO): got valid direction response:
 18:39:50.3231 LVL= 31472, 27473, 23874, 30899, AGC= 53, IDX= 511, 0.11, 3.044,-1.523,-1.430,-2.426, PHS=-0.711, 0.948, 0.953, RAW= 269.9, -14.2, CAL= 270.0, -19.8, ROT= 240.0,  19.8

2025-09-04T18:39:51.685Z,1757011191.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:51.686Z,1757011191.686 [DAT](INFO): direction in FSK: [-0.470440,-0.814827,-0.338738]
2025-09-04T18:39:51.686Z,1757011191.686 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:51.694Z,1757011191.694 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:51.694Z,1757011191.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:51.887Z,1757011191.887 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:51.888Z,1757011191.888 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:51.889Z,1757011191.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:52.141Z,1757011192.141 [DAT](INFO): DAT read: Rx Time:18:39:50.8233 

2025-09-04T18:39:52.143Z,1757011192.143 [DAT](INFO): Rx dataTimestamp_ set to:1757011192.141847
2025-09-04T18:39:52.146Z,1757011192.146 [DAT](INFO): DAT read: Bearing 166.2 -6.0(Local)

2025-09-04T18:39:52.147Z,1757011192.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.2 -6.0(Local)

2025-09-04T18:39:52.154Z,1757011192.154 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-09-04T18:39:52.186Z,1757011192.186 [DAT](INFO): DAT read: 18:39:50.8233 LVL= 32752, 28945, 27346, 32211, AGC= 54, IDX= 512, 0.45, 2.007,-2.512,-2.356, 3.012, PHS=-0.903, 0.804, 0.871, RAW= 268.1,  -8.9, CAL= 267.4, -14.4, ROT= 242.6,  14.4

2025-09-04T18:39:52.187Z,1757011192.187 [DAT](INFO): got valid direction response:
 18:39:50.8233 LVL= 32752, 28945, 27346, 32211, AGC= 54, IDX= 512, 0.45, 2.007,-2.512,-2.356, 3.012, PHS=-0.903, 0.804, 0.871, RAW= 268.1,  -8.9, CAL= 267.4, -14.4, ROT= 242.6,  14.4

2025-09-04T18:39:52.187Z,1757011192.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:52.197Z,1757011192.197 [DAT](INFO): direction in FSK: [-0.445742,-0.859923,-0.248690]
2025-09-04T18:39:52.197Z,1757011192.197 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:52.209Z,1757011192.210 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:52.210Z,1757011192.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:52.392Z,1757011192.392 [DAT](INFO): DAT read: Rx Time:18:39:51.3232 

2025-09-04T18:39:52.393Z,1757011192.393 [DAT](INFO): Rx dataTimestamp_ set to:1757011192.392469
2025-09-04T18:39:52.395Z,1757011192.395 [DAT](INFO): DAT read: Bearing 179.7, -57.3 (Local)

2025-09-04T18:39:52.397Z,1757011192.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.7, -57.3 (Local)

2025-09-04T18:39:52.398Z,1757011192.398 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:52.398Z,1757011192.398 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:52.399Z,1757011192.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:52.642Z,1757011192.642 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (tripte 92 ms) speed 0.0

2025-09-04T18:39:52.647Z,1757011192.647 [DAT](INFO): DAT read: 18:39:51.3232 LVL= 28752, 27281, 24818, 29107, AGC= 53, IDX= 512,-0.17,-0.652, 1.045, 1.216, 0.118, PHS=-0.669, 0.971, 1.053, RAW= 267.6, -15.9, CAL= 267.5, -21.4, ROT= 242.5,  21.4

2025-09-04T18:39:52.648Z,1757011192.648 [DAT](INFO): got valid direction response:
 18:39:51.3232 LVL= 28752, 27281, 24818, 29107, AGC= 53, IDX= 512,-0.17,-0.652, 1.045, 1.216, 0.118, PHS=-0.669, 0.971, 1.053, RAW= 267.6, -15.9, CAL= 267.5, -21.4, ROT= 242.5,  21.4

2025-09-04T18:39:52.648Z,1757011192.648 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:52.649Z,1757011192.649 [DAT](INFO): direction in FSK: [-0.429914,-0.825857,-0.364877]
2025-09-04T18:39:52.650Z,1757011192.650 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:52.653Z,1757011192.653 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:52.654Z,1757011192.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:52.895Z,1757011192.895 [DAT](INFO): DAT read: Rx Time:18:39:51.8233 

2025-09-04T18:39:52.897Z,1757011192.897 [DAT](INFO): Rx dataTimestamp_ set to:1757011192.896466
2025-09-04T18:39:52.899Z,1757011192.899 [DAT](INFO): DAT read: Bearing 193.2, -54.2 (Local)

2025-09-04T18:39:52.901Z,1757011192.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.2, -54.2 (Local)

2025-09-04T18:39:52.901Z,1757011192.901 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:52.902Z,1757011192.902 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:52.903Z,1757011192.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:53.151Z,1757011193.151 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) sped00
18:39:51.8233 LVL= 32752, 30065, 30162, 32227, AGC= 54, IDX= 513, 0.06, 2.502,-1.965,-1.772, 3.039, PHS=-0.435, 1.324, 1.429, RAW= 267.1, -24.3, CAL= 266.0, -28.8, ROT= 244.0,  28.8

2025-09-04T18:39:53.152Z,1757011193.152 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:53.152Z,1757011193.152 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:53.153Z,1757011193.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:53.400Z,1757011193.400 [DAT](INFO): DAT read: Rx Time:18:39:52.3232 

2025-09-04T18:39:53.401Z,1757011193.401 [DAT](INFO): Rx dataTimestamp_ set to:1757011193.400483
2025-09-04T18:39:53.404Z,1757011193.404 [DAT](INFO): DAT read: Bearing 187.5, -54.9 (Local)

2025-09-04T18:39:53.405Z,1757011193.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.5, -54.9 (Local)

2025-09-04T18:39:53.411Z,1757011193.411 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-09-04T18:39:53.413Z,1757011193.413 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:53.415Z,1757011193.415 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:53.416Z,1757011193.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:53.653Z,1757011193.653 [DAT](INFO): DAT read: 18:39:52.3232 LVL= 32752, 30609, 29394, 32403, AGC= 54, D=512, 0.30, 1.754,-2.676,-2.513, 2.455, PHS=-0.598, 1.198, 1.271, RAW= 268.0, -19.8, CAL= 267.4, -24.8, ROT= 242.6,  24.8

2025-09-04T18:39:53.654Z,1757011193.654 [DAT](INFO): unknown deviceResponse_: 18:39:52.3232 LVL= 32752, 30609, 29394, 32403, AGC= 54, D=512, 0.30, 1.754,-2.676,-2.513, 2.455, PHS=-0.598, 1.198, 1.271, RAW= 268.0, -19.8, CAL= 267.4, -24.8, ROT= 242.6,  24.8

2025-09-04T18:39:53.654Z,1757011193.654 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:53.654Z,1757011193.654 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:53.655Z,1757011193.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:53.905Z,1757011193.905 [DAT](INFO): DAT read: Rx Time:18:39:52.8234 

2025-09-04T18:39:53.907Z,1757011193.907 [DAT](INFO): Rx dataTimestamp_ set to:1757011193.905867
2025-09-04T18:39:53.909Z,1757011193.909 [DAT](INFO): DAT read: Bearing 181.2, -52.4 (Local)

2025-09-04T18:39:53.910Z,1757011193.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.2, -52.4 (Local)

2025-09-04T18:39:53.911Z,1757011193.911 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:53.912Z,1757011193.912 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:53.913Z,1757011193.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:54.156Z,1757011194.156 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.0

2025-09-04T18:39:54.161Z,1757011194.161 [DAT](INFO): DAT read: 18:952.8234 LVL= 29088, 30193, 28082, 27603, AGC= 59, IDX=   2,-0.32, 2.826,-1.757,-1.729,-2.736, PHS=-0.619, 1.024, 0.962, RAW= 271.9, -16.7, CAL= 271.8, -22.0, ROT= 238.2,  22.0

2025-09-04T18:39:54.162Z,1757011194.162 [DAT](INFO): unknown deviceResponse_: 18:952.8234 LVL= 29088, 30193, 28082, 27603, AGC= 59, IDX=   2,-0.32, 2.826,-1.757,-1.729,-2.736, PHS=-0.619, 1.024, 0.962, RAW= 271.9, -16.7, CAL= 271.8, -22.0, ROT= 238.2,  22.0

2025-09-04T18:39:54.162Z,1757011194.162 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:54.163Z,1757011194.163 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:54.163Z,1757011194.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:54.408Z,1757011194.408 [DAT](INFO): DAT read: Rx Time:18:39:53.3232 

2025-09-04T18:39:54.410Z,1757011194.410 [DAT](INFO): Rx dataTimestamp_ set to:1757011194.408959
2025-09-04T18:39:54.413Z,1757011194.413 [DAT](INFO): DAT read: Bearing 181.2, -51.6 (Local)

2025-09-04T18:39:54.414Z,1757011194.414 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.2, -51.6 (Local)

2025-09-04T18:39:54.420Z,1757011194.420 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-09-04T18:39:54.422Z,1757011194.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:54.429Z,1757011194.429 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:54.429Z,1757011194.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:54.665Z,1757011194.665 [DAT](INFO): DAT read: 18:39:53.3232 LVL= 29280, 25713, 28450, 26259, AGC= 53, IDX= 497,-0.06, 1.320, 3.028, 3.033, 2.047, PHS=-0.626, 1.026, 0.41, RAW= 272.6, -16.4, CAL= 272.6, -21.7, ROT= 237.4,  21.7

2025-09-04T18:39:54.666Z,1757011194.666 [DAT](INFO): got valid direction response:
 18:39:53.3232 LVL= 29280, 25713, 28450, 26259, AGC= 53, IDX= 497,-0.06, 1.320, 3.028, 3.033, 2.047, PHS=-0.626, 1.026, 0.41, RAW= 272.6, -16.4, CAL= 272.6, -21.7, ROT= 237.4,  21.7

2025-09-04T18:39:54.666Z,1757011194.666 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:39:54.667Z,1757011194.667 [DAT](INFO): direction in FSK: [-0.500589,-0.782750,-0.369747]
2025-09-04T18:39:54.670Z,1757011194.670 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:54.670Z,1757011194.670 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:54.671Z,1757011194.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:54.910Z,1757011194.910 [DAT](INFO): DAT read: Rx Time:18:39:53.8232 

2025-09-04T18:39:54.910Z,1757011194.910 [DAT](INFO): Rx dataTimestamp_ set to:1757011194.909852
2025-09-04T18:39:54.911Z,1757011194.911 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-09-04T18:39:54.912Z,1757011194.912 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:54.913Z,1757011194.913 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:54.913Z,1757011194.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:55.163Z,1757011195.163 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:55.163Z,1757011195.163 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:55.163Z,1757011195.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:55.420Z,1757011195.420 [DAT](INFO): DAT read: Rx Time:18:39:54.3231 

2025-09-04T18:39:55.422Z,1757011195.422 [DAT](INFO): Rx dataTimestamp_ set to:1757011195.420759
2025-09-04T18:39:55.425Z,1757011195.425 [DAT](INFO): DAT read: Bearing 204.4, -42.7 (Local)

2025-09-04T18:39:55.426Z,1757011195.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4, -42.7 (Local)

2025-09-04T18:39:55.430Z,1757011195.430 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.0

2025-09-04T18:39:55.433Z,1757011195.433 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:55.435Z,1757011195.435 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:55.435Z,1757011195.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:55.675Z,1757011195.675 [DAT](INFO): DAT read: 18:39:54.3231 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 512, 0.41, 0.765, 2.599, 2.520, 0.837, PHS= 0.030, 1.807, 1.640, RAW= 274.9, -35.9, CL27.0, -39.1, ROT= 238.0,  39.1

2025-09-04T18:39:55.677Z,1757011195.677 [DAT](INFO): unknown deviceResponse_: 18:39:54.3231 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 512, 0.41, 0.765, 2.599, 2.520, 0.837, PHS= 0.030, 1.807, 1.640, RAW= 274.9, -35.9, CL27.0, -39.1, ROT= 238.0,  39.1

2025-09-04T18:39:55.678Z,1757011195.678 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:55.678Z,1757011195.678 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:55.678Z,1757011195.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:55.927Z,1757011195.927 [DAT](INFO): DAT read: Rx Time:18:39:54.8233 

2025-09-04T18:39:55.929Z,1757011195.929 [DAT](INFO): Rx dataTimestamp_ set to:1757011195.927459
2025-09-04T18:39:55.932Z,1757011195.932 [DAT](INFO): DAT read: Bearing 180.9, -50.4 (Local)

2025-09-04T18:39:55.960Z,1757011195.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.9, -50.4 (Local)

2025-09-04T18:39:55.962Z,1757011195.962 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-09-04T18:39:55.991Z,1757011195.991 [DAT](INFO): DAT read: 18:39:54.8233 LVL= 32752, 30833, 31042, 28403, AGC= 59, IDX=   2,-0.26, 2.276,-2.291,-2.333, 3.005, PHS=-0.628, 1.032, 0.900, RAW= 274.1, -16.1, CAL= 274.2, -21.5, ROT= 235.8,  21.5

2025-09-04T18:39:56.001Z,1757011196.001 [DAT](INFO): got valid direction response:
 18:39:54.8233 LVL= 32752, 30833, 31042, 28403, AGC= 59, IDX=   2,-0.26, 2.276,-2.291,-2.333, 3.005, PHS=-0.628, 1.032, 0.900, RAW= 274.1, -16.1, CAL= 274.2, -21.5, ROT= 235.8,  21.5

2025-09-04T18:39:56.001Z,1757011196.001 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:56.002Z,1757011196.002 [DAT](INFO): direction in FSK: [-0.522972,-0.769530,-0.366501]
2025-09-04T18:39:56.002Z,1757011196.002 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:56.053Z,1757011196.053 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:56.054Z,1757011196.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:56.173Z,1757011196.173 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:56.173Z,1757011196.173 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:56.173Z,1757011196.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:56.429Z,1757011196.429 [DAT](INFO): DAT read: Rx Time:18:39:55.3232 

2025-09-04T18:39:56.430Z,1757011196.430 [DAT](INFO): Rx dataTimestamp_ set to:1757011196.429198
2025-09-04T18:39:56.434Z,1757011196.434 [DAT](INFO): DAT read: Bearing 178.9, -50.4 (Local)

2025-09-04T18:39:56.434Z,1757011196.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.9, -50.4 (Local)

2025-09-04T18:39:56.439Z,1757011196.439 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.0

2025-09-04T18:39:56.442Z,1757011196.442 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-04T18:39:56.452Z,1757011196.452 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:56.452Z,1757011196.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:56.681Z,1757011196.681 [DAT](INFO): DAT read: 18:39:55.3232 LVL= 32720, 27521, 29426, 32755, AGC= 54, IDX= 497,-0.04, 1.285, 3.025, 2.968, 2.057, PHS=-0.670, 1.013, 0.867, RAW= 274.5, -14.8, CAL= 274.8, -20.3, ROT= 235.2,  20.3

2025-09-04T18:39:56.682Z,1757011196.682 [DAT](INFO): got valid direction response:
 18:39:55.3232 LVL= 32720, 27521, 29426, 32755, AGC= 54, IDX= 497,-0.04, 1.285, 3.025, 2.968, 2.057, PHS=-0.670, 1.013, 0.867, RAW= 274.5, -14.8, CAL= 274.8, -20.3, ROT= 235.2,  20.3

2025-09-04T18:39:56.682Z,1757011196.682 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-04T18:39:56.683Z,1757011196.683 [DAT](INFO): direction in FSK: [-0.535266,-0.770147,-0.346936]
2025-09-04T18:39:56.686Z,1757011196.686 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:56.686Z,1757011196.686 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:56.687Z,1757011196.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:56.933Z,1757011196.933 [DAT](INFO): DAT read: Rx Time:18:39:55.8233 

2025-09-04T18:39:56.934Z,1757011196.934 [DAT](INFO): Rx dataTimestamp_ set to:1757011196.933461
2025-09-04T18:39:56.940Z,1757011196.940 [DAT](INFO): DAT read: Bearing 179.0, -50.4 (Local)

2025-09-04T18:39:56.941Z,1757011196.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.0, -50.4 (Local)

2025-09-04T18:39:56.967Z,1757011196.967 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-09-04T18:39:56.971Z,1757011196.971 [DAT](INFO): DAT read: 18:39:55.8233 LVL= 29504, 27249, 28786, 25683, AGC= 57, IDX=   2, 0.17,-2.082,-0.316,-0.381,-1.309, PHS=-0.671, 1.038, 0.884, RAW= 274.7, -15.1, CAL= 274.9, -20.6, ROT= 235.1,  20.6

2025-09-04T18:39:56.973Z,1757011196.973 [DAT](INFO): got valid direction response:
 18:39:55.8233 LVL= 29504, 27249, 28786, 25683, AGC= 57, IDX=   2, 0.17,-2.082,-0.316,-0.381,-1.309, PHS=-0.671, 1.038, 0.884, RAW= 274.7, -15.1, CAL= 274.9, -20.6, ROT= 235.1,  20.6

2025-09-04T18:39:56.973Z,1757011196.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:56.974Z,1757011196.974 [DAT](INFO): direction in FSK: [-0.535563,-0.767711,-0.351842]
2025-09-04T18:39:56.974Z,1757011196.974 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:56.978Z,1757011196.978 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:56.978Z,1757011196.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:57.181Z,1757011197.181 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:57.181Z,1757011197.181 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:57.181Z,1757011197.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:57.437Z,1757011197.437 [DAT](INFO): DAT read: Rx Time:18:39:56.3233 

2025-09-04T18:39:57.439Z,1757011197.439 [DAT](INFO): Rx dataTimestamp_ set to:1757011197.437840
2025-09-04T18:39:57.443Z,1757011197.443 [DAT](INFO): DAT read: Bearing 177.4, -50.7 (Local)

2025-09-04T18:39:57.443Z,1757011197.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.4, -50.7 (Local)

2025-09-04T18:39:57.447Z,1757011197.447 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-09-04T18:39:57.451Z,1757011197.451 [DAT](INFO): DAT read: 18:39:56.3233 LVL= 31984, 27873, 29106, 32755, AGC= 54, IDX= 497, 0.50, 2.660,-1.852,-1.923,-2.823, PHS=-0.698, 1.015, 0.856, RAW= 274.8, -14.2, CAL= 275.2, -19.7, ROT= 234.8,  19.7

2025-09-04T18:39:57.453Z,1757011197.453 [DAT](INFO): got valid direction response:
 18:39:56.3233 LVL= 31984, 27873, 29106, 32755, AGC= 54, IDX= 497, 0.50, 2.660,-1.852,-1.923,-2.823, PHS=-0.698, 1.015, 0.856, RAW= 274.8, -14.2, CAL= 275.2, -19.7, ROT= 234.8,  19.7

2025-09-04T18:39:57.453Z,1757011197.453 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:57.454Z,1757011197.454 [DAT](INFO): direction in FSK: [-0.542694,-0.769318,-0.337095]
2025-09-04T18:39:57.455Z,1757011197.455 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:57.458Z,1757011197.458 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:57.458Z,1757011197.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:57.625Z,1757011197.625 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 14.00 m. Transitioning docking module to standby.
2025-09-04T18:39:57.685Z,1757011197.685 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:57.685Z,1757011197.685 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:57.685Z,1757011197.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:57.942Z,1757011197.942 [DAT](INFO): DAT read: Rx Time:18:39:56.8234 

2025-09-04T18:39:57.943Z,1757011197.943 [DAT](INFO): Rx dataTimestamp_ set to:1757011197.942226
2025-09-04T18:39:57.945Z,1757011197.945 [DAT](INFO): DAT read: Bearing 174.9, -51.4 (Local)

2025-09-04T18:39:57.946Z,1757011197.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.9, -51.4 (Local)

2025-09-04T18:39:57.948Z,1757011197.948 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.0

2025-09-04T18:39:57.969Z,1757011197.969 [DAT](INFO): DAT read: 18:39:56.8234 LVL= 29168, 25009, 27506, 32755, AGC= 52, IDX= 499,-0.16, 2.015,-2.503,-2.575, 2.856, PHS=-0.740, 0.968, 0.807, RAW= 274.9, -12.6, CAL= 275.0, -18.2, ROT= 235.0,  18.2

2025-09-04T18:39:57.970Z,1757011197.970 [DAT](INFO): got valid direction response:
 18:39:56.8234 LVL= 29168, 25009, 27506, 32755, AGC= 52, IDX= 499,-0.16, 2.015,-2.503,-2.575, 2.856, PHS=-0.740, 0.968, 0.807, RAW= 274.9, -12.6, CAL= 275.0, -18.2, ROT= 235.0,  18.2

2025-09-04T18:39:57.970Z,1757011197.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:57.971Z,1757011197.971 [DAT](INFO): direction in FSK: [-0.544881,-0.778172,-0.312335]
2025-09-04T18:39:57.971Z,1757011197.971 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:57.975Z,1757011197.975 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:57.975Z,1757011197.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:58.073Z,1757011198.073 [DockingStepper](INFO): Changing to mode: 1
2025-09-04T18:39:58.189Z,1757011198.189 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:58.189Z,1757011198.189 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:58.189Z,1757011198.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:58.444Z,1757011198.444 [DAT](INFO): DAT read: Rx Time:18:39:57.3233 

2025-09-04T18:39:58.445Z,1757011198.445 [DAT](INFO): Rx dataTimestamp_ set to:1757011198.444669
2025-09-04T18:39:58.446Z,1757011198.446 [DAT](INFO): DAT read: Bearing 176.1, -51.0 (Local)

2025-09-04T18:39:58.447Z,1757011198.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.1, -51.0 (Local)

2025-09-04T18:39:58.449Z,1757011198.449 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-09-04T18:39:58.454Z,1757011198.454 [DAT](INFO): DAT read: 18:39:57.3233 LVL= 26608, 24433, 25522, 32755, AGC= 53, IDX= 498, 0.07, 1.983,-2.514,-2.601, 2.809, PHS=-0.724, 1.005, 0.830, RAW= 275.3, -13.4, CAL= 275.5, -18.9, ROT= 234.5,  18.9

2025-09-04T18:39:58.455Z,1757011198.455 [DAT](INFO): got valid direction response:
 18:39:57.3233 LVL= 26608, 24433, 25522, 32755, AGC= 53, IDX= 498, 0.07, 1.983,-2.514,-2.601, 2.809, PHS=-0.724, 1.005, 0.830, RAW= 275.3, -13.4, CAL= 275.5, -18.9, ROT= 234.5,  18.9

2025-09-04T18:39:58.455Z,1757011198.455 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:58.456Z,1757011198.456 [DAT](INFO): direction in FSK: [-0.549394,-0.770223,-0.323917]
2025-09-04T18:39:58.456Z,1757011198.456 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:58.460Z,1757011198.460 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:58.465Z,1757011198.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:58.693Z,1757011198.693 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:58.693Z,1757011198.693 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:58.693Z,1757011198.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:58.852Z,1757011198.852 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-09-04T18:39:58.946Z,1757011198.946 [DAT](INFO): DAT read: Rx Time:18:39:57.8235 

2025-09-04T18:39:58.952Z,1757011198.952 [DAT](INFO): Rx dataTimestamp_ set to:1757011198.952166
2025-09-04T18:39:58.954Z,1757011198.954 [DAT](INFO): DAT read: Bearing 176.8, -50.5 (Local)

2025-09-04T18:39:58.954Z,1757011198.954 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.8, -50.5 (Local)

2025-09-04T18:39:58.956Z,1757011198.956 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-09-04T18:39:58.965Z,1757011198.965 [DAT](INFO): DAT read: 18:39:57.8235 LVL= 29536, 25713, 26610, 29091, AGC= 52, IDX= 499, 0.34,-2.578,-0.800,-0.903,-1.768, PHS=-0.709, 1.013, 0.821, RAW= 275.8, -13.7, CAL= 276.1, -19.2, ROT= 233.9,  19.2

2025-09-04T18:39:58.966Z,1757011198.966 [DAT](INFO): got valid direction response:
 18:39:57.8235 LVL= 29536, 25713, 26610, 29091, AGC= 52, IDX= 499, 0.34,-2.578,-0.800,-0.903,-1.768, PHS=-0.709, 1.013, 0.821, RAW= 275.8, -13.7, CAL= 276.1, -19.2, ROT= 233.9,  19.2

2025-09-04T18:39:58.966Z,1757011198.966 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:58.967Z,1757011198.967 [DAT](INFO): direction in FSK: [-0.556423,-0.763046,-0.328867]
2025-09-04T18:39:58.968Z,1757011198.968 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:58.979Z,1757011198.979 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:58.979Z,1757011198.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:59.197Z,1757011199.197 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:59.197Z,1757011199.197 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:59.197Z,1757011199.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:59.451Z,1757011199.451 [DAT](INFO): DAT read: Rx Time:18:39:58.3234 

2025-09-04T18:39:59.451Z,1757011199.451 [DAT](INFO): Rx dataTimestamp_ set to:1757011199.450725
2025-09-04T18:39:59.452Z,1757011199.452 [DAT](INFO): DAT read: Bearing 177.0, -49.8 (Local)

2025-09-04T18:39:59.453Z,1757011199.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 177.0, -49.8 (Local)

2025-09-04T18:39:59.455Z,1757011199.455 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.0

2025-09-04T18:39:59.459Z,1757011199.459 [DAT](INFO): DAT read: 18:39:58.3234 LVL= 26432, 23089, 25906, 31219, AGC= 51, IDX= 499,-0.25, 0.995, 2.761, 2.631, 1.799, PHS=-0.702, 1.007, 0.788, RAW= 276.8, -13.5, CAL= 277.1, -19.0, ROT= 232.9,  19.0

2025-09-04T18:39:59.460Z,1757011199.460 [DAT](INFO): got valid direction response:
 18:39:58.3234 LVL= 26432, 23089, 25906, 31219, AGC= 51, IDX= 499,-0.25, 0.995, 2.761, 2.631, 1.799, PHS=-0.702, 1.007, 0.788, RAW= 276.8, -13.5, CAL= 277.1, -19.0, ROT= 232.9,  19.0

2025-09-04T18:39:59.461Z,1757011199.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:59.462Z,1757011199.462 [DAT](INFO): direction in FSK: [-0.570344,-0.754130,-0.325568]
2025-09-04T18:39:59.462Z,1757011199.462 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:59.465Z,1757011199.465 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:59.466Z,1757011199.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:59.701Z,1757011199.701 [DAT](INFO): Reached modem response timeout
2025-09-04T18:39:59.701Z,1757011199.701 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:59.701Z,1757011199.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:39:59.954Z,1757011199.954 [DAT](INFO): DAT read: Rx Time:18:39:58.8234 

2025-09-04T18:39:59.954Z,1757011199.954 [DAT](INFO): Rx dataTimestamp_ set to:1757011199.953822
2025-09-04T18:39:59.955Z,1757011199.955 [DAT](INFO): DAT read: Bearing 178.1, -48.5 (Local)

2025-09-04T18:39:59.956Z,1757011199.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.1, -48.5 (Local)

2025-09-04T18:39:59.958Z,1757011199.958 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.0

2025-09-04T18:39:59.962Z,1757011199.962 [DAT](INFO): DAT read: 18:39:58.8234 LVL= 29664, 25425, 29138, 26899, AGC= 51, IDX= 499,-0.03, 1.599,-2.938,-3.102, 2.380, PHS=-0.679, 1.010, 0.757, RAW= 278.0, -13.7, CAL= 278.4, -19.2, ROT= 231.6,  19.2

2025-09-04T18:39:59.963Z,1757011199.963 [DAT](INFO): got valid direction response:
 18:39:58.8234 LVL= 29664, 25425, 29138, 26899, AGC= 51, IDX= 499,-0.03, 1.599,-2.938,-3.102, 2.380, PHS=-0.679, 1.010, 0.757, RAW= 278.0, -13.7, CAL= 278.4, -19.2, ROT= 231.6,  19.2

2025-09-04T18:39:59.964Z,1757011199.964 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:39:59.965Z,1757011199.965 [DAT](INFO): direction in FSK: [-0.586597,-0.740102,-0.328867]
2025-09-04T18:39:59.966Z,1757011199.966 [DAT](INFO): publishing direction and range info
2025-09-04T18:39:59.970Z,1757011199.970 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:39:59.970Z,1757011199.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:00.205Z,1757011200.205 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:00.205Z,1757011200.205 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:00.205Z,1757011200.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:00.458Z,1757011200.458 [DAT](INFO): DAT read: Rx Time:18:39:59.3233 

2025-09-04T18:40:00.458Z,1757011200.458 [DAT](INFO): Rx dataTimestamp_ set to:1757011200.457892
2025-09-04T18:40:00.459Z,1757011200.459 [DAT](INFO): DAT read: Bearing 179.7, -46.3 (Local)

2025-09-04T18:40:00.460Z,1757011200.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 179.7, -46.3 (Local)

2025-09-04T18:40:00.462Z,1757011200.462 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.0

2025-09-04T18:40:00.467Z,1757011200.467 [DAT](INFO): DAT read: 18:39:59.3233 LVL= 32752, 30961, 32754, 31539, AGC= 51, IDX= 498, 0.18, 2.456,-2.083,-2.309,-3.078, PHS=-0.648, 1.040, 0.725, RAW= 280.1, -14.3, CAL= 280.7, -19.7, ROT= 229.3,  19.7

2025-09-04T18:40:00.468Z,1757011200.468 [DAT](INFO): got valid direction response:
 18:39:59.3233 LVL= 32752, 30961, 32754, 31539, AGC= 51, IDX= 498, 0.18, 2.456,-2.083,-2.309,-3.078, PHS=-0.648, 1.040, 0.725, RAW= 280.1, -14.3, CAL= 280.7, -19.7, ROT= 229.3,  19.7

2025-09-04T18:40:00.468Z,1757011200.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:00.470Z,1757011200.470 [DAT](INFO): direction in FSK: [-0.613931,-0.713761,-0.337095]
2025-09-04T18:40:00.470Z,1757011200.470 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:00.505Z,1757011200.505 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:00.506Z,1757011200.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:00.709Z,1757011200.709 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:00.709Z,1757011200.709 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:00.709Z,1757011200.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:00.962Z,1757011200.962 [DAT](INFO): DAT read: Rx Time:18:39:59.8235 

2025-09-04T18:40:00.962Z,1757011200.962 [DAT](INFO): Rx dataTimestamp_ set to:1757011200.961964
2025-09-04T18:40:00.964Z,1757011200.964 [DAT](INFO): DAT read: Bearing 180.8, -44.3 (Local)

2025-09-04T18:40:00.964Z,1757011200.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 180.8, -44.3 (Local)

2025-09-04T18:40:00.966Z,1757011200.966 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-09-04T18:40:00.971Z,1757011200.971 [DAT](INFO): DAT read: 18:39:59.8235 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 500,-0.43, 1.553,-2.992, 3.012, 2.287, PHS=-0.631, 1.049, 0.681, RAW= 282.0, -14.2, CAL= 282.8, -19.7, ROT= 227.2,  19.7

2025-09-04T18:40:00.972Z,1757011200.972 [DAT](INFO): got valid direction response:
 18:39:59.8235 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 500,-0.43, 1.553,-2.992, 3.012, 2.287, PHS=-0.631, 1.049, 0.681, RAW= 282.0, -14.2, CAL= 282.8, -19.7, ROT= 227.2,  19.7

2025-09-04T18:40:00.973Z,1757011200.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:00.974Z,1757011200.974 [DAT](INFO): direction in FSK: [-0.639674,-0.690785,-0.337095]
2025-09-04T18:40:00.974Z,1757011200.974 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:00.993Z,1757011200.993 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:00.994Z,1757011200.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:01.213Z,1757011201.213 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:01.213Z,1757011201.213 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:01.213Z,1757011201.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:01.466Z,1757011201.466 [DAT](INFO): DAT read: Rx Time:18:40:00.3234 

2025-09-04T18:40:01.466Z,1757011201.466 [DAT](INFO): Rx dataTimestamp_ set to:1757011201.465693
2025-09-04T18:40:01.467Z,1757011201.467 [DAT](INFO): DAT read: Bearing 182.1, -42.3 (Local)

2025-09-04T18:40:01.468Z,1757011201.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.1, -42.3 (Local)

2025-09-04T18:40:01.470Z,1757011201.470 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed -0.1

2025-09-04T18:40:01.481Z,1757011201.481 [DAT](INFO): DAT read: 18:40:00.3234 LVL= 27376, 23857, 26146, 27251, AGC= 50, IDX= 499,-0.10, 0.343, 2.098, 1.766, 1.065, PHS=-0.620, 1.078, 0.656, RAW= 283.8, -14.4, CAL= 284.7, -19.8, ROT= 225.3,  19.8

2025-09-04T18:40:01.482Z,1757011201.482 [DAT](INFO): got valid direction response:
 18:40:00.3234 LVL= 27376, 23857, 26146, 27251, AGC= 50, IDX= 499,-0.10, 0.343, 2.098, 1.766, 1.065, PHS=-0.620, 1.078, 0.656, RAW= 283.8, -14.4, CAL= 284.7, -19.8, ROT= 225.3,  19.8

2025-09-04T18:40:01.483Z,1757011201.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:01.484Z,1757011201.484 [DAT](INFO): direction in FSK: [-0.661810,-0.668778,-0.338738]
2025-09-04T18:40:01.484Z,1757011201.484 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:01.497Z,1757011201.497 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:01.497Z,1757011201.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:01.717Z,1757011201.717 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:01.717Z,1757011201.717 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:01.717Z,1757011201.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:01.970Z,1757011201.970 [DAT](INFO): DAT read: Rx Time:18:40:00.8235 

2025-09-04T18:40:01.970Z,1757011201.970 [DAT](INFO): Rx dataTimestamp_ set to:1757011201.969861
2025-09-04T18:40:01.971Z,1757011201.971 [DAT](INFO): DAT read: Bearing 184.0, -40.5 (Local)

2025-09-04T18:40:01.972Z,1757011201.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.0, -40.5 (Local)

2025-09-04T18:40:01.974Z,1757011201.974 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-09-04T18:40:01.979Z,1757011201.979 [DAT](INFO): DAT read: 18:40:00.8235 LVL= 31520, 27889, 30818, 32339, AGC= 52, IDX= 500, 0.13, 2.979,-1.546,-1.927,-2.612, PHS=-0.591, 1.111, 0.641, RAW= 285.5, -15.1, CAL= 286.5, -20.4, ROT= 223.5,  20.4

2025-09-04T18:40:01.980Z,1757011201.980 [DAT](INFO): got valid direction response:
 18:40:00.8235 LVL= 31520, 27889, 30818, 32339, AGC= 52, IDX= 500, 0.13, 2.979,-1.546,-1.927,-2.612, PHS=-0.591, 1.111, 0.641, RAW= 285.5, -15.1, CAL= 286.5, -20.4, ROT= 223.5,  20.4

2025-09-04T18:40:01.980Z,1757011201.980 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:01.981Z,1757011201.981 [DAT](INFO): direction in FSK: [-0.679880,-0.645182,-0.348572]
2025-09-04T18:40:01.981Z,1757011201.981 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:01.991Z,1757011201.991 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:01.991Z,1757011201.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:02.221Z,1757011202.221 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:02.221Z,1757011202.221 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:02.221Z,1757011202.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:02.475Z,1757011202.475 [DAT](INFO): DAT read: Rx Time:18:40:01.3235 

2025-09-04T18:40:02.475Z,1757011202.475 [DAT](INFO): Rx dataTimestamp_ set to:1757011202.474949
2025-09-04T18:40:02.477Z,1757011202.477 [DAT](INFO): DAT read: Bearing 184.8, -39.3 (Local)

2025-09-04T18:40:02.477Z,1757011202.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.8, -39.3 (Local)

2025-09-04T18:40:02.480Z,1757011202.480 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-09-04T18:40:02.487Z,1757011202.487 [DAT](INFO): DAT read: 18:40:01.3235 LVL= 27584, 24561, 28498, 28723, AGC= 50, IDX= 500,-0.49, 0.373, 2.130, 1.721, 1.066, PHS=-0.591, 1.109, 0.611, RAW= 286.6, -14.8, CAL= 287.8, -20.1, ROT= 222.2,  20.1

2025-09-04T18:40:02.489Z,1757011202.489 [DAT](INFO): got valid direction response:
 18:40:01.3235 LVL= 27584, 24561, 28498, 28723, AGC= 50, IDX= 500,-0.49, 0.373, 2.130, 1.721, 1.066, PHS=-0.591, 1.109, 0.611, RAW= 286.6, -14.8, CAL= 287.8, -20.1, ROT= 222.2,  20.1

2025-09-04T18:40:02.490Z,1757011202.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:02.491Z,1757011202.491 [DAT](INFO): direction in FSK: [-0.695685,-0.630809,-0.343660]
2025-09-04T18:40:02.491Z,1757011202.491 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:02.535Z,1757011202.535 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:02.535Z,1757011202.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:02.725Z,1757011202.725 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:02.725Z,1757011202.725 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:02.725Z,1757011202.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:02.978Z,1757011202.978 [DAT](INFO): DAT read: Rx Time:18:40:01.8236 

2025-09-04T18:40:02.978Z,1757011202.978 [DAT](INFO): Rx dataTimestamp_ set to:1757011202.977743
2025-09-04T18:40:02.979Z,1757011202.979 [DAT](INFO): DAT read: Bearing 186.6, -37.7 (Local)

2025-09-04T18:40:02.980Z,1757011202.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.6, -37.7 (Local)

2025-09-04T18:40:02.982Z,1757011202.982 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed -0.1

2025-09-04T18:40:02.986Z,1757011202.986 [DAT](INFO): DAT read: 18:40:01.8236 LVL= 27728, 24209, 26098, 30147, AGC= 50, IDX= 501,-0.10, 0.960, 2.732, 2.276, 1.631, PHS=-0.569, 1.146, 0.601, RAW= 288.1, -15.3, CAL= 289.3, -20.6, ROT= 220.7,  20.6

2025-09-04T18:40:02.987Z,1757011202.987 [DAT](INFO): got valid direction response:
 18:40:01.8236 LVL= 27728, 24209, 26098, 30147, AGC= 50, IDX= 501,-0.10, 0.960, 2.732, 2.276, 1.631, PHS=-0.569, 1.146, 0.601, RAW= 288.1, -15.3, CAL= 289.3, -20.6, ROT= 220.7,  20.6

2025-09-04T18:40:02.988Z,1757011202.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:02.989Z,1757011202.989 [DAT](INFO): direction in FSK: [-0.709659,-0.610403,-0.351842]
2025-09-04T18:40:02.989Z,1757011202.989 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:02.992Z,1757011202.992 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:02.993Z,1757011202.993 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:03.229Z,1757011203.229 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:03.229Z,1757011203.229 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:03.229Z,1757011203.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:03.483Z,1757011203.483 [DAT](INFO): DAT read: Rx Time:18:40:02.3235 

2025-09-04T18:40:03.484Z,1757011203.484 [DAT](INFO): Rx dataTimestamp_ set to:1757011203.483267
2025-09-04T18:40:03.485Z,1757011203.485 [DAT](INFO): DAT read: Bearing 188.5, -36.6 (Local)

2025-09-04T18:40:03.486Z,1757011203.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.5, -36.6 (Local)

2025-09-04T18:40:03.489Z,1757011203.489 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-09-04T18:40:03.494Z,1757011203.494 [DAT](INFO): DAT read: 18:40:02.3235 LVL= 32752, 32545, 30802, 32755, AGC= 52, IDX= 500, 0.14, 1.242, 2.987, 2.513, 1.882, PHS=-0.537, 1.150, 0.588, RAW= 289.1, -15.9, CAL= 290.2, -21.1, ROT= 219.8,  21.1

2025-09-04T18:40:03.496Z,1757011203.496 [DAT](INFO): got valid direction response:
 18:40:02.3235 LVL= 32752, 32545, 30802, 32755, AGC= 52, IDX= 500, 0.14, 1.242, 2.987, 2.513, 1.882, PHS=-0.537, 1.150, 0.588, RAW= 289.1, -15.9, CAL= 290.2, -21.1, ROT= 219.8,  21.1

2025-09-04T18:40:03.497Z,1757011203.497 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:03.498Z,1757011203.498 [DAT](INFO): direction in FSK: [-0.716773,-0.597193,-0.359997]
2025-09-04T18:40:03.498Z,1757011203.498 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:03.503Z,1757011203.503 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:03.503Z,1757011203.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:03.733Z,1757011203.733 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:03.733Z,1757011203.733 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:03.733Z,1757011203.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:03.986Z,1757011203.986 [DAT](INFO): DAT read: Rx Time:18:40:02.8236 

2025-09-04T18:40:03.986Z,1757011203.986 [DAT](INFO): Rx dataTimestamp_ set to:1757011203.985744
2025-09-04T18:40:03.987Z,1757011203.987 [DAT](INFO): DAT read: Bearing 189.9, -35.3 (Local)

2025-09-04T18:40:03.988Z,1757011203.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.9, -35.3 (Local)

2025-09-04T18:40:03.990Z,1757011203.990 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:03.994Z,1757011203.994 [DAT](INFO): DAT read: 18:40:02.8236 LVL= 31088, 31185, 29042, 32755, AGC= 51, IDX= 501,-0.48,-0.225, 1.504, 1.004, 0.389, PHS=-0.512, 1.160, 0.572, RAW= 290.3, -16.4, CAL= 291.4, -21.5, ROT= 218.6,  21.5

2025-09-04T18:40:03.995Z,1757011203.995 [DAT](INFO): got valid direction response:
 18:40:02.8236 LVL= 31088, 31185, 29042, 32755, AGC= 51, IDX= 501,-0.48,-0.225, 1.504, 1.004, 0.389, PHS=-0.512, 1.160, 0.572, RAW= 290.3, -16.4, CAL= 291.4, -21.5, ROT= 218.6,  21.5

2025-09-04T18:40:03.996Z,1757011203.996 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:03.997Z,1757011203.997 [DAT](INFO): direction in FSK: [-0.727140,-0.580469,-0.366501]
2025-09-04T18:40:03.997Z,1757011203.997 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:04.000Z,1757011204.000 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:04.001Z,1757011204.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:04.105Z,1757011204.105 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-09-04T18:40:04.237Z,1757011204.237 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:04.237Z,1757011204.237 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:04.237Z,1757011204.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:04.491Z,1757011204.491 [DAT](INFO): DAT read: Rx Time:18:40:03.3235 

2025-09-04T18:40:04.491Z,1757011204.491 [DAT](INFO): Rx dataTimestamp_ set to:1757011204.490719
2025-09-04T18:40:04.493Z,1757011204.493 [DAT](INFO): DAT read: Bearing 190.9, -34.6 (Local)

2025-09-04T18:40:04.493Z,1757011204.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.9, -34.6 (Local)

2025-09-04T18:40:04.497Z,1757011204.497 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.0

2025-09-04T18:40:04.515Z,1757011204.515 [DAT](INFO): DAT read: 18:40:03.3235 LVL= 29488, 28721, 28978, 32243, AGC= 51, IDX= 500,-0.12,-2.217,-0.511,-1.022,-1.619, PHS=-0.495, 1.153, 0.553, RAW= 291.1, -16.5, CAL= 292.2, -21.6, ROT= 217.8,  21.6

2025-09-04T18:40:04.517Z,1757011204.517 [DAT](INFO): got valid direction response:
 18:40:03.3235 LVL= 29488, 28721, 28978, 32243, AGC= 51, IDX= 500,-0.12,-2.217,-0.511,-1.022,-1.619, PHS=-0.495, 1.153, 0.553, RAW= 291.1, -16.5, CAL= 292.2, -21.6, ROT= 217.8,  21.6

2025-09-04T18:40:04.518Z,1757011204.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:04.519Z,1757011204.519 [DAT](INFO): direction in FSK: [-0.734667,-0.569867,-0.368125]
2025-09-04T18:40:04.519Z,1757011204.519 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:04.535Z,1757011204.535 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:04.535Z,1757011204.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:04.565Z,1757011204.565 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-09-04T18:40:04.565Z,1757011204.565 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:LeaveDock] Stopped
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-09-04T18:40:04.575Z,1757011204.575 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-09-04T18:40:04.576Z,1757011204.576 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-09-04T18:40:04.576Z,1757011204.576 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-04T18:40:04.580Z,1757011204.580 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-09-04T18:40:04.580Z,1757011204.580 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-09-04T18:40:04.581Z,1757011204.581 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-09-04T18:40:04.581Z,1757011204.581 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-09-04T18:40:04.581Z,1757011204.581 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-04T18:40:04.582Z,1757011204.582 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-04T18:40:04.741Z,1757011204.741 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:04.741Z,1757011204.741 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:04.741Z,1757011204.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:04.959Z,1757011204.959 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.20
2025-09-04T18:40:04.994Z,1757011204.994 [DAT](INFO): DAT read: Rx Time:18:40:03.8236 

2025-09-04T18:40:04.994Z,1757011204.994 [DAT](INFO): Rx dataTimestamp_ set to:1757011204.993851
2025-09-04T18:40:04.995Z,1757011204.995 [DAT](INFO): DAT read: Bearing 191.9, -34.3 (Local)

2025-09-04T18:40:04.996Z,1757011204.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.9, -34.3 (Local)

2025-09-04T18:40:04.998Z,1757011204.998 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:05.003Z,1757011205.003 [DAT](INFO): DAT read: 18:40:03.8236 LVL= 30640, 26721, 27634, 30195, AGC= 53, IDX= 501, 0.14, 0.184, 1.898, 1.374, 0.775, PHS=-0.489, 1.168, 0.555, RAW= 291.5, -16.7, CAL= 292.5, -21.8, ROT= 217.5,  21.8

2025-09-04T18:40:05.004Z,1757011205.004 [DAT](INFO): got valid direction response:
 18:40:03.8236 LVL= 30640, 26721, 27634, 30195, AGC= 53, IDX= 501, 0.14, 0.184, 1.898, 1.374, 0.775, PHS=-0.489, 1.168, 0.555, RAW= 291.5, -16.7, CAL= 292.5, -21.8, ROT= 217.5,  21.8

2025-09-04T18:40:05.005Z,1757011205.005 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:05.006Z,1757011205.006 [DAT](INFO): direction in FSK: [-0.736617,-0.565226,-0.371368]
2025-09-04T18:40:05.006Z,1757011205.006 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:05.009Z,1757011205.009 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:05.010Z,1757011205.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:05.245Z,1757011205.245 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:05.245Z,1757011205.245 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:05.245Z,1757011205.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:05.317Z,1757011205.317 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.20
2025-09-04T18:40:05.499Z,1757011205.499 [DAT](INFO): DAT read: Rx Time:18:40:04.3236 

2025-09-04T18:40:05.499Z,1757011205.499 [DAT](INFO): Rx dataTimestamp_ set to:1757011205.498940
2025-09-04T18:40:05.501Z,1757011205.501 [DAT](INFO): DAT read: Bearing 192.2, -33.8 (Local)

2025-09-04T18:40:05.501Z,1757011205.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.2, -33.8 (Local)

2025-09-04T18:40:05.504Z,1757011205.504 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:05.511Z,1757011205.511 [DAT](INFO): DAT read: 18:40:04.3236 LVL= 31136, 23425, 26866, 30307, AGC= 50, IDX= 500, 0.46,-1.236, 0.454,-0.077,-0.650, PHS=-0.484, 1.150, 0.529, RAW= 292.1, -16.5, CAL= 293.2, -21.5, ROT= 216.8,  21.5

2025-09-04T18:40:05.512Z,1757011205.512 [DAT](INFO): got valid direction response:
 18:40:04.3236 LVL= 31136, 23425, 26866, 30307, AGC= 50, IDX= 500, 0.46,-1.236, 0.454,-0.077,-0.650, PHS=-0.484, 1.150, 0.529, RAW= 292.1, -16.5, CAL= 293.2, -21.5, ROT= 216.8,  21.5

2025-09-04T18:40:05.512Z,1757011205.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:05.513Z,1757011205.513 [DAT](INFO): direction in FSK: [-0.745015,-0.557342,-0.366501]
2025-09-04T18:40:05.514Z,1757011205.514 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:05.518Z,1757011205.518 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:05.518Z,1757011205.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:05.620Z,1757011205.620 [Radio_Surface](INFO): Powering up
2025-09-04T18:40:05.708Z,1757011205.708 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.20
2025-09-04T18:40:05.749Z,1757011205.749 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:05.749Z,1757011205.749 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:05.749Z,1757011205.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:06.002Z,1757011206.002 [DAT](INFO): DAT read: Rx Time:18:40:04.8237 

2025-09-04T18:40:06.002Z,1757011206.002 [DAT](INFO): Rx dataTimestamp_ set to:1757011206.001759
2025-09-04T18:40:06.003Z,1757011206.003 [DAT](INFO): DAT read: Bearing 192.8, -32.9 (Local)

2025-09-04T18:40:06.004Z,1757011206.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.8, -32.9 (Local)

2025-09-04T18:40:06.006Z,1757011206.006 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:06.010Z,1757011206.010 [DAT](INFO): DAT read: 18:40:04.8237 LVL= 31312, 26801, 27458, 30099, AGC= 51, IDX= 502,-0.20,-1.150, 0.535,-0.017,-0.568, PHS=-0.479, 1.148, 0.508, RAW= 293.0, -16.3, CAL= 294.2, -21.3, ROT= 215.8,  21.3

2025-09-04T18:40:06.011Z,1757011206.011 [DAT](INFO): got valid direction response:
 18:40:04.8237 LVL= 31312, 26801, 27458, 30099, AGC= 51, IDX= 502,-0.20,-1.150, 0.535,-0.017,-0.568, PHS=-0.479, 1.148, 0.508, RAW= 293.0, -16.3, CAL= 294.2, -21.3, ROT= 215.8,  21.3

2025-09-04T18:40:06.012Z,1757011206.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:06.013Z,1757011206.013 [DAT](INFO): direction in FSK: [-0.755661,-0.545000,-0.363251]
2025-09-04T18:40:06.013Z,1757011206.013 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:06.044Z,1757011206.044 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:06.045Z,1757011206.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:06.134Z,1757011206.134 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.20
2025-09-04T18:40:06.253Z,1757011206.253 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:06.253Z,1757011206.253 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:06.253Z,1757011206.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:06.506Z,1757011206.506 [DAT](INFO): DAT read: Rx Time:18:40:05.3236 

2025-09-04T18:40:06.506Z,1757011206.506 [DAT](INFO): Rx dataTimestamp_ set to:1757011206.506028
2025-09-04T18:40:06.508Z,1757011206.508 [DAT](INFO): DAT read: Bearing 194.4, -31.7 (Local)

2025-09-04T18:40:06.508Z,1757011206.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.4, -31.7 (Local)

2025-09-04T18:40:06.510Z,1757011206.510 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:06.515Z,1757011206.515 [DAT](INFO): DAT read: 18:40:05.3236 LVL= 31792, 24689, 29522, 32563, AGC= 50, IDX= 501, 0.04,-1.341, 0.328,-0.244,-0.790, PHS=-0.450, 1.163, 0.502, RAW= 294.1, -17.0, CAL= 295.2, -21.9, ROT= 214.8,  21.9

2025-09-04T18:40:06.516Z,1757011206.516 [DAT](INFO): got valid direction response:
 18:40:05.3236 LVL= 31792, 24689, 29522, 32563, AGC= 50, IDX= 501, 0.04,-1.341, 0.328,-0.244,-0.790, PHS=-0.450, 1.163, 0.502, RAW= 294.1, -17.0, CAL= 295.2, -21.9, ROT= 214.8,  21.9

2025-09-04T18:40:06.517Z,1757011206.517 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:06.518Z,1757011206.518 [DAT](INFO): direction in FSK: [-0.761892,-0.529529,-0.372988]
2025-09-04T18:40:06.518Z,1757011206.518 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:06.529Z,1757011206.529 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:06.530Z,1757011206.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:06.585Z,1757011206.585 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.19
2025-09-04T18:40:06.757Z,1757011206.757 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:06.757Z,1757011206.757 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:06.757Z,1757011206.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:06.963Z,1757011206.963 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.19
2025-09-04T18:40:07.011Z,1757011207.011 [DAT](INFO): DAT read: Rx Time:18:40:05.8237 

2025-09-04T18:40:07.011Z,1757011207.011 [DAT](INFO): Rx dataTimestamp_ set to:1757011207.010807
2025-09-04T18:40:07.012Z,1757011207.012 [DAT](INFO): DAT read: Bearing 195.6, -30.9 (Local)

2025-09-04T18:40:07.013Z,1757011207.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.6, -30.9 (Local)

2025-09-04T18:40:07.015Z,1757011207.015 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:07.032Z,1757011207.032 [DAT](INFO): DAT read: 18:40:05.8237 LVL= 31792, 23249, 27586, 29619, AGC= 50, IDX= 502, 0.25, 0.066, 1.738, 1.146, 0.606, PHS=-0.438, 1.177, 0.497, RAW= 294.8, -17.3, CAL= 295.9, -22.1, ROT= 214.1,  22.1

2025-09-04T18:40:07.033Z,1757011207.033 [DAT](INFO): got valid direction response:
 18:40:05.8237 LVL= 31792, 23249, 27586, 29619, AGC= 50, IDX= 502, 0.25, 0.066, 1.738, 1.146, 0.606, PHS=-0.438, 1.177, 0.497, RAW= 294.8, -17.3, CAL= 295.9, -22.1, ROT= 214.1,  22.1

2025-09-04T18:40:07.034Z,1757011207.034 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:07.035Z,1757011207.035 [DAT](INFO): direction in FSK: [-0.767222,-0.519448,-0.376224]
2025-09-04T18:40:07.035Z,1757011207.035 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:07.058Z,1757011207.058 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:07.059Z,1757011207.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:07.261Z,1757011207.261 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:07.261Z,1757011207.261 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:07.261Z,1757011207.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:07.367Z,1757011207.367 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.19
2025-09-04T18:40:07.514Z,1757011207.514 [DAT](INFO): DAT read: Rx Time:18:40:06.3237 

2025-09-04T18:40:07.514Z,1757011207.514 [DAT](INFO): Rx dataTimestamp_ set to:1757011207.513742
2025-09-04T18:40:07.515Z,1757011207.515 [DAT](INFO): DAT read: Bearing 195.9, -30.8 (Local)

2025-09-04T18:40:07.516Z,1757011207.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.9, -30.8 (Local)

2025-09-04T18:40:07.518Z,1757011207.518 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:07.523Z,1757011207.523 [DAT](INFO): DAT read: 18:40:06.3237 LVL= 32752, 24209, 29970, 28467, AGC= 52, IDX= 502,-0.38,-2.180,-0.508,-1.107,-1.639, PHS=-0.439, 1.176, 0.487, RAW= 295.1, -17.1, CAL= 296.2, -22.0, ROT= 213.8,  22.0

2025-09-04T18:40:07.524Z,1757011207.524 [DAT](INFO): got valid direction response:
 18:40:06.3237 LVL= 32752, 24209, 29970, 28467, AGC= 52, IDX= 502,-0.38,-2.180,-0.508,-1.107,-1.639, PHS=-0.439, 1.176, 0.487, RAW= 295.1, -17.1, CAL= 296.2, -22.0, ROT= 213.8,  22.0

2025-09-04T18:40:07.535Z,1757011207.535 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:07.536Z,1757011207.536 [DAT](INFO): direction in FSK: [-0.770475,-0.515788,-0.374607]
2025-09-04T18:40:07.536Z,1757011207.536 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:07.540Z,1757011207.540 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:07.552Z,1757011207.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:07.726Z,1757011207.726 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.19
2025-09-04T18:40:07.765Z,1757011207.765 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:07.765Z,1757011207.765 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:07.765Z,1757011207.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:08.018Z,1757011208.018 [DAT](INFO): DAT read: Rx Time:18:40:06.8237 

2025-09-04T18:40:08.019Z,1757011208.019 [DAT](INFO): Rx dataTimestamp_ set to:1757011208.018307
2025-09-04T18:40:08.020Z,1757011208.020 [DAT](INFO): DAT read: Bearing 194.9, -31.1 (Local)

2025-09-04T18:40:08.020Z,1757011208.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.9, -31.1 (Local)

2025-09-04T18:40:08.022Z,1757011208.022 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:08.027Z,1757011208.027 [DAT](INFO): DAT read: 18:40:06.8237 LVL= 32416, 25569, 29330, 27987, AGC= 51, IDX= 502,-0.10,-2.589,-0.900,-1.509,-2.020, PHS=-0.467, 1.165, 0.467, RAW= 295.2, -16.2, CAL= 296.6, -21.1, ROT= 213.4,  21.1

2025-09-04T18:40:08.033Z,1757011208.033 [DAT](INFO): got valid direction response:
 18:40:06.8237 LVL= 32416, 25569, 29330, 27987, AGC= 51, IDX= 502,-0.10,-2.589,-0.900,-1.509,-2.020, PHS=-0.467, 1.165, 0.467, RAW= 295.2, -16.2, CAL= 296.6, -21.1, ROT= 213.4,  21.1

2025-09-04T18:40:08.033Z,1757011208.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:08.034Z,1757011208.034 [DAT](INFO): direction in FSK: [-0.778874,-0.513573,-0.359997]
2025-09-04T18:40:08.034Z,1757011208.034 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:08.038Z,1757011208.038 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:08.038Z,1757011208.038 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:08.153Z,1757011208.153 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.19
2025-09-04T18:40:08.269Z,1757011208.269 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:08.269Z,1757011208.269 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:08.269Z,1757011208.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:08.522Z,1757011208.522 [DAT](INFO): DAT read: Rx Time:18:40:07.3236 

2025-09-04T18:40:08.522Z,1757011208.522 [DAT](INFO): Rx dataTimestamp_ set to:1757011208.521971
2025-09-04T18:40:08.524Z,1757011208.524 [DAT](INFO): DAT read: Bearing 193.4, -31.1 (Local)

2025-09-04T18:40:08.524Z,1757011208.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.4, -31.1 (Local)

2025-09-04T18:40:08.526Z,1757011208.526 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:08.531Z,1757011208.531 [DAT](INFO): DAT read: 18:40:07.3236 LVL= 32752, 24881, 28066, 31603, AGC= 52, IDX= 501, 0.10,-1.964,-0.249,-0.883,-1.367, PHS=-0.495, 1.164, 0.440, RAW= 295.8, -15.2, CAL= 297.4, -20.1, ROT= 212.6,  20.1

2025-09-04T18:40:08.532Z,1757011208.532 [DAT](INFO): got valid direction response:
 18:40:07.3236 LVL= 32752, 24881, 28066, 31603, AGC= 52, IDX= 501, 0.10,-1.964,-0.249,-0.883,-1.367, PHS=-0.495, 1.164, 0.440, RAW= 295.8, -15.2, CAL= 297.4, -20.1, ROT= 212.6,  20.1

2025-09-04T18:40:08.532Z,1757011208.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:08.533Z,1757011208.533 [DAT](INFO): direction in FSK: [-0.791142,-0.505957,-0.343660]
2025-09-04T18:40:08.534Z,1757011208.533 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:08.542Z,1757011208.542 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:08.542Z,1757011208.542 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:08.661Z,1757011208.661 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.18
2025-09-04T18:40:08.773Z,1757011208.773 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:08.773Z,1757011208.773 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:08.773Z,1757011208.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:08.965Z,1757011208.965 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.18
2025-09-04T18:40:09.028Z,1757011209.028 [DAT](INFO): DAT read: Rx Time:18:40:07.8237 

2025-09-04T18:40:09.028Z,1757011209.028 [DAT](INFO): Rx dataTimestamp_ set to:1757011209.027884
2025-09-04T18:40:09.029Z,1757011209.029 [DAT](INFO): DAT read: Bearing 192.3, -31.5 (Local)

2025-09-04T18:40:09.030Z,1757011209.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.3, -31.5 (Local)

2025-09-04T18:40:09.033Z,1757011209.033 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:09.039Z,1757011209.039 [DAT](INFO): DAT read: 18:40:07.8237 LVL= 30448, 23281, 24946, 24867, AGC= 50, IDX= 502, 0.28, 0.071, 1.816, 1.158, 0.692, PHS=-0.519, 1.169, 0.422, RAW= 296.2, -14.5, CAL= 297.7, -19.4, ROT= 212.3,  19.4

2025-09-04T18:40:09.051Z,1757011209.051 [DAT](INFO): got valid direction response:
 18:40:07.8237 LVL= 30448, 23281, 24946, 24867, AGC= 50, IDX= 502, 0.28, 0.071, 1.816, 1.158, 0.692, PHS=-0.519, 1.169, 0.422, RAW= 296.2, -14.5, CAL= 297.7, -19.4, ROT= 212.3,  19.4

2025-09-04T18:40:09.052Z,1757011209.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:09.053Z,1757011209.053 [DAT](INFO): direction in FSK: [-0.797270,-0.504013,-0.332161]
2025-09-04T18:40:09.053Z,1757011209.053 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:09.057Z,1757011209.057 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:09.057Z,1757011209.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:09.279Z,1757011209.279 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:09.284Z,1757011209.284 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:09.285Z,1757011209.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:09.471Z,1757011209.471 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.17
2025-09-04T18:40:09.530Z,1757011209.530 [DAT](INFO): DAT read: Rx Time:18:40:08.3236 

2025-09-04T18:40:09.530Z,1757011209.530 [DAT](INFO): Rx dataTimestamp_ set to:1757011209.529965
2025-09-04T18:40:09.532Z,1757011209.532 [DAT](INFO): DAT read: Bearing 191.9, -31.7 (Local)

2025-09-04T18:40:09.533Z,1757011209.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.9, -31.7 (Local)

2025-09-04T18:40:09.535Z,1757011209.535 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:09.543Z,1757011209.543 [DAT](INFO): DAT read: 18:40:08.3236 LVL= 31824, 26609, 26594, 27283, AGC= 51, IDX= 502,-0.49,-1.868,-0.119,-0.785,-1.232, PHS=-0.534, 1.157, 0.403, RAW= 296.4, -13.9, CAL= 297.8, -18.7, ROT= 212.2,  18.7

2025-09-04T18:40:09.550Z,1757011209.550 [DAT](INFO): got valid direction response:
 18:40:08.3236 LVL= 31824, 26609, 26594, 27283, AGC= 51, IDX= 502,-0.49,-1.868,-0.119,-0.785,-1.232, PHS=-0.534, 1.157, 0.403, RAW= 296.4, -13.9, CAL= 297.8, -18.7, ROT= 212.2,  18.7

2025-09-04T18:40:09.550Z,1757011209.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:09.557Z,1757011209.557 [DAT](INFO): direction in FSK: [-0.801523,-0.504746,-0.320613]
2025-09-04T18:40:09.557Z,1757011209.557 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:09.563Z,1757011209.563 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:09.563Z,1757011209.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:09.761Z,1757011209.761 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.17
2025-09-04T18:40:09.781Z,1757011209.781 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:09.781Z,1757011209.781 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:09.781Z,1757011209.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:10.034Z,1757011210.034 [DAT](INFO): DAT read: Rx Time:18:40:08.8237 

2025-09-04T18:40:10.034Z,1757011210.034 [DAT](INFO): Rx dataTimestamp_ set to:1757011210.033755
2025-09-04T18:40:10.035Z,1757011210.035 [DAT](INFO): DAT read: Bearing 192.5, -30.9 (Local)

2025-09-04T18:40:10.036Z,1757011210.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.5, -30.9 (Local)

2025-09-04T18:40:10.038Z,1757011210.038 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:10.043Z,1757011210.043 [DAT](INFO): DAT read: 18:40:08.8237 LVL= 30704, 24145, 27762, 32643, AGC= 52, IDX= 503,-0.23,-0.843, 0.914, 0.225,-0.209, PHS=-0.532, 1.168, 0.390, RAW= 297.2, -13.8, CAL= 298.6, -18.6, ROT= 211.4,  18.6

2025-09-04T18:40:10.044Z,1757011210.044 [DAT](INFO): got valid direction response:
 18:40:08.8237 LVL= 30704, 24145, 27762, 32643, AGC= 52, IDX= 503,-0.23,-0.843, 0.914, 0.225,-0.209, PHS=-0.532, 1.168, 0.390, RAW= 297.2, -13.8, CAL= 298.6, -18.6, ROT= 211.4,  18.6

2025-09-04T18:40:10.044Z,1757011210.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:10.045Z,1757011210.045 [DAT](INFO): direction in FSK: [-0.808969,-0.493796,-0.318959]
2025-09-04T18:40:10.045Z,1757011210.045 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:10.057Z,1757011210.057 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:10.057Z,1757011210.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:10.156Z,1757011210.156 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.17
2025-09-04T18:40:10.286Z,1757011210.286 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:10.287Z,1757011210.287 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:10.287Z,1757011210.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:10.537Z,1757011210.537 [DAT](INFO): DAT read: Rx Time:18:40:09.3236 

2025-09-04T18:40:10.538Z,1757011210.538 [DAT](INFO): Rx dataTimestamp_ set to:1757011210.537593
2025-09-04T18:40:10.539Z,1757011210.539 [DAT](INFO): DAT read: Bearing 193.9, -29.8 (Local)

2025-09-04T18:40:10.539Z,1757011210.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.9, -29.8 (Local)

2025-09-04T18:40:10.542Z,1757011210.542 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:10.546Z,1757011210.546 [DAT](INFO): DAT read: 18:40:09.3236 LVL= 30960, 23137, 27410, 31779, AGC= 52, IDX= 502,-0.06,-0.903, 0.862, 0.143,-0.293, PHS=-0.508, 1.199, 0.392, RAW= 298.2, -14.5, CAL= 299.7, -19.2, ROT= 210.3,  19.2

2025-09-04T18:40:10.547Z,1757011210.547 [DAT](INFO): got valid direction response:
 18:40:09.3236 LVL= 30960, 23137, 27410, 31779, AGC= 52, IDX= 502,-0.06,-0.903, 0.862, 0.143,-0.293, PHS=-0.508, 1.199, 0.392, RAW= 298.2, -14.5, CAL= 299.7, -19.2, ROT= 210.3,  19.2

2025-09-04T18:40:10.548Z,1757011210.548 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:10.549Z,1757011210.549 [DAT](INFO): direction in FSK: [-0.815370,-0.476464,-0.328867]
2025-09-04T18:40:10.549Z,1757011210.549 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:10.552Z,1757011210.552 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:10.553Z,1757011210.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:10.755Z,1757011210.755 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.16
2025-09-04T18:40:10.789Z,1757011210.789 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:10.789Z,1757011210.789 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:10.789Z,1757011210.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:10.881Z,1757011210.881 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-09-04T18:40:10.881Z,1757011210.881 [Radio_Surface](INFO): No local IP found
2025-09-04T18:40:11.042Z,1757011211.042 [DAT](INFO): DAT read: Rx Time:18:40:09.8237 

2025-09-04T18:40:11.042Z,1757011211.042 [DAT](INFO): Rx dataTimestamp_ set to:1757011211.041939
2025-09-04T18:40:11.044Z,1757011211.044 [DAT](INFO): DAT read: Bearing 194.3, -29.2 (Local)

2025-09-04T18:40:11.044Z,1757011211.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.3, -29.2 (Local)

2025-09-04T18:40:11.046Z,1757011211.046 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:11.051Z,1757011211.051 [DAT](INFO): DAT read: 18:40:09.8237 LVL= 32752, 26705, 27266, 32755, AGC= 53, IDX= 503, 0.12, 1.493,-3.024, 2.517, 2.094, PHS=-0.498, 1.210, 0.380, RAW= 299.1, -14.6, CAL= 300.6, -19.3, ROT= 209.4,  19.3

2025-09-04T18:40:11.052Z,1757011211.052 [DAT](INFO): got valid direction response:
 18:40:09.8237 LVL= 32752, 26705, 27266, 32755, AGC= 53, IDX= 503, 0.12, 1.493,-3.024, 2.517, 2.094, PHS=-0.498, 1.210, 0.380, RAW= 299.1, -14.6, CAL= 300.6, -19.3, ROT= 209.4,  19.3

2025-09-04T18:40:11.052Z,1757011211.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:11.053Z,1757011211.053 [DAT](INFO): direction in FSK: [-0.822252,-0.463315,-0.330514]
2025-09-04T18:40:11.053Z,1757011211.053 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:11.065Z,1757011211.065 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:11.065Z,1757011211.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:11.080Z,1757011211.080 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.16
2025-09-04T18:40:11.294Z,1757011211.294 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:11.295Z,1757011211.295 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:11.296Z,1757011211.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:11.472Z,1757011211.472 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.15
2025-09-04T18:40:11.546Z,1757011211.546 [DAT](INFO): DAT read: Rx Time:18:40:10.3236 

2025-09-04T18:40:11.547Z,1757011211.547 [DAT](INFO): Rx dataTimestamp_ set to:1757011211.546540
2025-09-04T18:40:11.548Z,1757011211.548 [DAT](INFO): DAT read: Bearing 193.6, -29.5 (Local)

2025-09-04T18:40:11.549Z,1757011211.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.6, -29.5 (Local)

2025-09-04T18:40:11.551Z,1757011211.551 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:11.555Z,1757011211.555 [DAT](INFO): DAT read: 18:40:10.3236 LVL= 32752, 27505, 31362, 32755, AGC= 53, IDX= 502, 0.36, 0.190, 1.966, 1.209, 0.805, PHS=-0.514, 1.206, 0.360, RAW= 299.5, -14.0, CAL= 300.9, -18.7, ROT= 209.1,  18.7

2025-09-04T18:40:11.563Z,1757011211.563 [DAT](INFO): got valid direction response:
 18:40:10.3236 LVL= 32752, 27505, 31362, 32755, AGC= 53, IDX= 502, 0.36, 0.190, 1.966, 1.209, 0.805, PHS=-0.514, 1.206, 0.360, RAW= 299.5, -14.0, CAL= 300.9, -18.7, ROT= 209.1,  18.7

2025-09-04T18:40:11.563Z,1757011211.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:11.564Z,1757011211.564 [DAT](INFO): direction in FSK: [-0.827646,-0.460662,-0.320613]
2025-09-04T18:40:11.565Z,1757011211.565 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:11.568Z,1757011211.568 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:11.568Z,1757011211.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:11.797Z,1757011211.797 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:11.797Z,1757011211.797 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:11.797Z,1757011211.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:11.837Z,1757011211.837 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.15
2025-09-04T18:40:12.050Z,1757011212.050 [DAT](INFO): DAT read: Rx Time:18:40:10.8237 

2025-09-04T18:40:12.050Z,1757011212.050 [DAT](INFO): Rx dataTimestamp_ set to:1757011212.049767
2025-09-04T18:40:12.051Z,1757011212.051 [DAT](INFO): DAT read: Bearing 193.1, -30.2 (Local)

2025-09-04T18:40:12.052Z,1757011212.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1, -30.2 (Local)

2025-09-04T18:40:12.054Z,1757011212.054 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:12.058Z,1757011212.058 [DAT](INFO): DAT read: 18:40:10.8237 LVL= 32752, 24273, 26098, 32755, AGC= 54, IDX= 503,-0.25,-1.911,-0.131,-0.890,-1.282, PHS=-0.527, 1.196, 0.348, RAW= 299.5, -13.5, CAL= 300.8, -18.2, ROT= 209.2,  18.2

2025-09-04T18:40:12.059Z,1757011212.059 [DAT](INFO): got valid direction response:
 18:40:10.8237 LVL= 32752, 24273, 26098, 32755, AGC= 54, IDX= 503,-0.25,-1.911,-0.131,-0.890,-1.282, PHS=-0.527, 1.196, 0.348, RAW= 299.5, -13.5, CAL= 300.8, -18.2, ROT= 209.2,  18.2

2025-09-04T18:40:12.060Z,1757011212.060 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:12.061Z,1757011212.061 [DAT](INFO): direction in FSK: [-0.829252,-0.463453,-0.312335]
2025-09-04T18:40:12.061Z,1757011212.061 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:12.065Z,1757011212.065 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:12.065Z,1757011212.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:12.218Z,1757011212.218 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.15
2025-09-04T18:40:12.302Z,1757011212.302 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:12.303Z,1757011212.303 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:12.304Z,1757011212.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:12.554Z,1757011212.554 [DAT](INFO): DAT read: Rx Time:18:40:11.3236 

2025-09-04T18:40:12.554Z,1757011212.554 [DAT](INFO): Rx dataTimestamp_ set to:1757011212.554061
2025-09-04T18:40:12.556Z,1757011212.556 [DAT](INFO): DAT read: Bearing 193.3, -30.3 (Local)

2025-09-04T18:40:12.556Z,1757011212.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.3, -30.3 (Local)

2025-09-04T18:40:12.558Z,1757011212.558 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.0

2025-09-04T18:40:12.563Z,1757011212.563 [DAT](INFO): DAT read: 18:40:11.3236 LVL= 32752, 26737, 28658, 32755, AGC= 54, IDX= 502,-0.04,-2.999,-1.224,-1.989,-2.373, PHS=-0.524, 1.194, 0.340, RAW= 299.8, -13.5, CAL= 301.1, -18.1, ROT= 208.9,  18.1

2025-09-04T18:40:12.572Z,1757011212.572 [DAT](INFO): got valid direction response:
 18:40:11.3236 LVL= 32752, 26737, 28658, 32755, AGC= 54, IDX= 502,-0.04,-2.999,-1.224,-1.989,-2.373, PHS=-0.524, 1.194, 0.340, RAW= 299.8, -13.5, CAL= 301.1, -18.1, ROT= 208.9,  18.1

2025-09-04T18:40:12.572Z,1757011212.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:12.573Z,1757011212.573 [DAT](INFO): direction in FSK: [-0.832143,-0.459367,-0.310676]
2025-09-04T18:40:12.574Z,1757011212.574 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:12.582Z,1757011212.582 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:12.582Z,1757011212.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:12.709Z,1757011212.709 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.14
2025-09-04T18:40:12.805Z,1757011212.805 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:12.805Z,1757011212.805 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:12.805Z,1757011212.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:13.044Z,1757011213.044 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.14
2025-09-04T18:40:13.058Z,1757011213.058 [DAT](INFO): DAT read: Rx Time:18:40:11.8237 

2025-09-04T18:40:13.058Z,1757011213.058 [DAT](INFO): Rx dataTimestamp_ set to:1757011213.057870
2025-09-04T18:40:13.059Z,1757011213.059 [DAT](INFO): DAT read: Bearing 194.9, -30.1 (Local)

2025-09-04T18:40:13.060Z,1757011213.060 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.9, -30.1 (Local)

2025-09-04T18:40:13.062Z,1757011213.062 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed -0.1

2025-09-04T18:40:13.067Z,1757011213.067 [DAT](INFO): DAT read: 18:40:11.8237 LVL= 32752, 24209, 26482, 32755, AGC= 54, IDX= 503, 0.17,-0.206, 1.588, 0.810, 0.404, PHS=-0.508, 1.229, 0.362, RAW= 300.0, -14.3, CAL= 301.4, -18.9, ROT= 208.6,  18.9

2025-09-04T18:40:13.068Z,1757011213.068 [DAT](INFO): got valid direction response:
 18:40:11.8237 LVL= 32752, 24209, 26482, 32755, AGC= 54, IDX= 503, 0.17,-0.206, 1.588, 0.810, 0.404, PHS=-0.508, 1.229, 0.362, RAW= 300.0, -14.3, CAL= 301.4, -18.9, ROT= 208.6,  18.9

2025-09-04T18:40:13.068Z,1757011213.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:13.069Z,1757011213.069 [DAT](INFO): direction in FSK: [-0.830647,-0.452883,-0.323917]
2025-09-04T18:40:13.070Z,1757011213.070 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:13.073Z,1757011213.073 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:13.073Z,1757011213.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:13.310Z,1757011213.310 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:13.311Z,1757011213.311 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:13.312Z,1757011213.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:13.497Z,1757011213.497 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.12
2025-09-04T18:40:13.562Z,1757011213.562 [DAT](INFO): DAT read: Rx Time:18:40:12.3237 

2025-09-04T18:40:13.563Z,1757011213.563 [DAT](INFO): Rx dataTimestamp_ set to:1757011213.562646
2025-09-04T18:40:13.564Z,1757011213.564 [DAT](INFO): DAT read: Bearing 195.5, -29.9 (Local)

2025-09-04T18:40:13.565Z,1757011213.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.5, -29.9 (Local)

2025-09-04T18:40:13.567Z,1757011213.567 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:13.582Z,1757011213.582 [DAT](INFO): DAT read: 18:40:12.3237 LVL= 32752, 28081, 29922, 32755, AGC= 54, IDX= 503,-0.49,-3.103,-1.334,-2.110,-2.505, PHS=-0.495, 1.216, 0.351, RAW= 300.3, -14.3, CAL= 301.8, -18.9, ROT= 208.2,  18.9

2025-09-04T18:40:13.583Z,1757011213.583 [DAT](INFO): got valid direction response:
 18:40:12.3237 LVL= 32752, 28081, 29922, 32755, AGC= 54, IDX= 503,-0.49,-3.103,-1.334,-2.110,-2.505, PHS=-0.495, 1.216, 0.351, RAW= 300.3, -14.3, CAL= 301.8, -18.9, ROT= 208.2,  18.9

2025-09-04T18:40:13.583Z,1757011213.583 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:13.589Z,1757011213.589 [DAT](INFO): direction in FSK: [-0.833788,-0.447073,-0.323917]
2025-09-04T18:40:13.589Z,1757011213.589 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:13.597Z,1757011213.597 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:13.597Z,1757011213.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:13.813Z,1757011213.813 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:13.813Z,1757011213.813 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:13.813Z,1757011213.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:13.818Z,1757011213.818 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.12
2025-09-04T18:40:14.066Z,1757011214.066 [DAT](INFO): DAT read: Rx Time:18:40:12.8238 

2025-09-04T18:40:14.066Z,1757011214.066 [DAT](INFO): Rx dataTimestamp_ set to:1757011214.065995
2025-09-04T18:40:14.068Z,1757011214.068 [DAT](INFO): DAT read: Bearing 195.7, -30.5 (Local)

2025-09-04T18:40:14.068Z,1757011214.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.7, -30.5 (Local)

2025-09-04T18:40:14.070Z,1757011214.070 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.0

2025-09-04T18:40:14.075Z,1757011214.075 [DAT](INFO): DAT read: 18:40:12.8238 LVL= 32752, 27745, 30898, 32755, AGC= 53, IDX= 504,-0.11,-2.793,-1.018,-1.791,-2.185, PHS=-0.506, 1.212, 0.350, RAW= 300.1, -14.1, CAL= 301.5, -18.7, ROT= 208.5,  18.7

2025-09-04T18:40:14.084Z,1757011214.084 [DAT](INFO): got valid direction response:
 18:40:12.8238 LVL= 32752, 27745, 30898, 32755, AGC= 53, IDX= 504,-0.11,-2.793,-1.018,-1.791,-2.185, PHS=-0.506, 1.212, 0.350, RAW= 300.1, -14.1, CAL= 301.5, -18.7, ROT= 208.5,  18.7

2025-09-04T18:40:14.085Z,1757011214.085 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:14.086Z,1757011214.086 [DAT](INFO): direction in FSK: [-0.832425,-0.451970,-0.320613]
2025-09-04T18:40:14.086Z,1757011214.086 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:14.094Z,1757011214.094 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:14.094Z,1757011214.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:14.217Z,1757011214.217 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.12
2025-09-04T18:40:14.320Z,1757011214.320 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:14.321Z,1757011214.321 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:14.322Z,1757011214.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:14.570Z,1757011214.570 [DAT](INFO): DAT read: Rx Time:18:40:13.3237 

2025-09-04T18:40:14.570Z,1757011214.570 [DAT](INFO): Rx dataTimestamp_ set to:1757011214.569785
2025-09-04T18:40:14.571Z,1757011214.571 [DAT](INFO): DAT read: Bearing 195.5, -30.6 (Local)

2025-09-04T18:40:14.572Z,1757011214.572 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.5, -30.6 (Local)

2025-09-04T18:40:14.574Z,1757011214.574 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:14.578Z,1757011214.578 [DAT](INFO): DAT read: 18:40:13.3237 LVL= 32752, 26481, 30754, 32755, AGC= 54, IDX= 503, 0.17,-2.547,-0.760,-1.551,-1.932, PHS=-0.513, 1.217, 0.336, RAW= 300.6, -13.8, CAL= 301.9, -18.4, ROT= 208.1,  18.4

2025-09-04T18:40:14.579Z,1757011214.579 [DAT](INFO): got valid direction response:
 18:40:13.3237 LVL= 32752, 26481, 30754, 32755, AGC= 54, IDX= 503, 0.17,-2.547,-0.760,-1.551,-1.932, PHS=-0.513, 1.217, 0.336, RAW= 300.6, -13.8, CAL= 301.9, -18.4, ROT= 208.1,  18.4

2025-09-04T18:40:14.580Z,1757011214.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:14.581Z,1757011214.581 [DAT](INFO): direction in FSK: [-0.837029,-0.446932,-0.315649]
2025-09-04T18:40:14.581Z,1757011214.581 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:14.621Z,1757011214.621 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:14.621Z,1757011214.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:14.649Z,1757011214.649 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00031122274591,35.0,  0.0,1494.0,  0
2025-09-04T18:40:14.673Z,1757011214.673 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.12
2025-09-04T18:40:14.821Z,1757011214.821 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:14.821Z,1757011214.821 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:14.821Z,1757011214.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:15.049Z,1757011215.049 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.12
2025-09-04T18:40:15.075Z,1757011215.075 [DAT](INFO): DAT read: Rx Time:18:40:13.8238 

2025-09-04T18:40:15.075Z,1757011215.075 [DAT](INFO): Rx dataTimestamp_ set to:1757011215.074714
2025-09-04T18:40:15.077Z,1757011215.077 [DAT](INFO): DAT read: Bearing 194.7, -32.4 (Local)

2025-09-04T18:40:15.077Z,1757011215.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.7, -32.4 (Local)

2025-09-04T18:40:15.080Z,1757011215.080 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.0

2025-09-04T18:40:15.086Z,1757011215.086 [DAT](INFO): DAT read: 18:40:13.8238 LVL= 32752, 24305, 26610, 32755, AGC= 51, IDX= 504,-0.35, 0.860, 2.661, 1.893, 1.514, PHS=-0.552, 1.192, 0.335, RAW= 299.4, -12.8, CAL= 300.6, -17.4, ROT= 209.4,  17.4

2025-09-04T18:40:15.087Z,1757011215.087 [DAT](INFO): got valid direction response:
 18:40:13.8238 LVL= 32752, 24305, 26610, 32755, AGC= 51, IDX= 504,-0.35, 0.860, 2.661, 1.893, 1.514, PHS=-0.552, 1.192, 0.335, RAW= 299.4, -12.8, CAL= 300.6, -17.4, ROT= 209.4,  17.4

2025-09-04T18:40:15.087Z,1757011215.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:15.088Z,1757011215.088 [DAT](INFO): direction in FSK: [-0.831347,-0.468440,-0.299041]
2025-09-04T18:40:15.088Z,1757011215.088 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:15.091Z,1757011215.091 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:15.104Z,1757011215.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:15.327Z,1757011215.327 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:15.328Z,1757011215.328 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:15.329Z,1757011215.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:15.538Z,1757011215.538 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:15.578Z,1757011215.578 [DAT](INFO): DAT read: Rx Time:18:40:14.3237 

2025-09-04T18:40:15.578Z,1757011215.578 [DAT](INFO): Rx dataTimestamp_ set to:1757011215.577898
2025-09-04T18:40:15.579Z,1757011215.579 [DAT](INFO): DAT read: Bearing 194.9, -32.5 (Local)

2025-09-04T18:40:15.580Z,1757011215.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.9, -32.5 (Local)

2025-09-04T18:40:15.582Z,1757011215.582 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.0

2025-09-04T18:40:15.587Z,1757011215.587 [DAT](INFO): DAT read: 18:40:14.3237 LVL= 29664, 22241, 24354, 30787, AGC= 53, IDX= 503,-0.03,-0.393, 1.411, 0.636, 0.261, PHS=-0.552, 1.195, 0.331, RAW= 299.6, -12.8, CAL= 300.8, -17.4, ROT= 209.2,  17.4

2025-09-04T18:40:15.588Z,1757011215.588 [DAT](INFO): got valid direction response:
 18:40:14.3237 LVL= 29664, 22241, 24354, 30787, AGC= 53, IDX= 503,-0.03,-0.393, 1.411, 0.636, 0.261, PHS=-0.552, 1.195, 0.331, RAW= 299.6, -12.8, CAL= 300.8, -17.4, ROT= 209.2,  17.4

2025-09-04T18:40:15.588Z,1757011215.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:15.589Z,1757011215.589 [DAT](INFO): direction in FSK: [-0.832978,-0.465535,-0.299041]
2025-09-04T18:40:15.590Z,1757011215.590 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:15.593Z,1757011215.593 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:15.594Z,1757011215.594 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:15.831Z,1757011215.831 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:15.832Z,1757011215.832 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:15.833Z,1757011215.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:15.849Z,1757011215.849 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:16.082Z,1757011216.082 [DAT](INFO): DAT read: Rx Time:18:40:14.8238 

2025-09-04T18:40:16.082Z,1757011216.082 [DAT](INFO): Rx dataTimestamp_ set to:1757011216.081766
2025-09-04T18:40:16.083Z,1757011216.083 [DAT](INFO): DAT read: Bearing 195.4, -32.3 (Local)

2025-09-04T18:40:16.084Z,1757011216.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.4, -32.3 (Local)

2025-09-04T18:40:16.086Z,1757011216.086 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.0

2025-09-04T18:40:16.090Z,1757011216.090 [DAT](INFO): DAT read: 18:40:14.8238 LVL= 29872, 21361, 25074, 31347, AGC= 54, IDX= 504, 0.20, 2.073,-2.419, 3.088, 2.718, PHS=-0.543, 1.191, 0.326, RAW= 299.9, -12.9, CAL= 301.1, -17.5, ROT= 208.9,  17.5

2025-09-04T18:40:16.091Z,1757011216.091 [DAT](INFO): got valid direction response:
 18:40:14.8238 LVL= 29872, 21361, 25074, 31347, AGC= 54, IDX= 504, 0.20, 2.073,-2.419, 3.088, 2.718, PHS=-0.543, 1.191, 0.326, RAW= 299.9, -12.9, CAL= 301.1, -17.5, ROT= 208.9,  17.5

2025-09-04T18:40:16.092Z,1757011216.092 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:16.093Z,1757011216.093 [DAT](INFO): direction in FSK: [-0.834945,-0.460915,-0.300706]
2025-09-04T18:40:16.094Z,1757011216.094 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:16.097Z,1757011216.097 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:16.097Z,1757011216.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:16.249Z,1757011216.249 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:16.335Z,1757011216.335 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:16.336Z,1757011216.336 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:16.337Z,1757011216.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:16.586Z,1757011216.586 [DAT](INFO): DAT read: Rx Time:18:40:15.3238 

2025-09-04T18:40:16.587Z,1757011216.587 [DAT](INFO): Rx dataTimestamp_ set to:1757011216.586273
2025-09-04T18:40:16.588Z,1757011216.588 [DAT](INFO): DAT read: Bearing 195.7, -32.5 (Local)

2025-09-04T18:40:16.588Z,1757011216.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.7, -32.5 (Local)

2025-09-04T18:40:16.590Z,1757011216.590 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed -0.1

2025-09-04T18:40:16.595Z,1757011216.595 [DAT](INFO): DAT read: 18:40:15.3238 LVL= 30704, 20465, 27218, 31843, AGC= 55, IDX= 504,-0.46, 0.246, 2.046, 1.269, 0.899, PHS=-0.551, 1.192, 0.326, RAW= 299.8, -12.8, CAL= 300.9, -17.3, ROT= 209.1,  17.3

2025-09-04T18:40:16.596Z,1757011216.596 [DAT](INFO): got valid direction response:
 18:40:15.3238 LVL= 30704, 20465, 27218, 31843, AGC= 55, IDX= 504,-0.46, 0.246, 2.046, 1.269, 0.899, PHS=-0.551, 1.192, 0.326, RAW= 299.8, -12.8, CAL= 300.9, -17.3, ROT= 209.1,  17.3

2025-09-04T18:40:16.597Z,1757011216.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:16.597Z,1757011216.597 [DAT](INFO): direction in FSK: [-0.834243,-0.464334,-0.297375]
2025-09-04T18:40:16.598Z,1757011216.598 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:16.601Z,1757011216.601 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:16.602Z,1757011216.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:16.724Z,1757011216.724 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:16.837Z,1757011216.837 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:16.837Z,1757011216.837 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:16.838Z,1757011216.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:17.047Z,1757011217.047 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:17.091Z,1757011217.091 [DAT](INFO): DAT read: Rx Time:18:40:15.8239 

2025-09-04T18:40:17.091Z,1757011217.091 [DAT](INFO): Rx dataTimestamp_ set to:1757011217.090921
2025-09-04T18:40:17.093Z,1757011217.093 [DAT](INFO): DAT read: Bearing 195.6, -32.8 (Local)

2025-09-04T18:40:17.093Z,1757011217.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.6, -32.8 (Local)

2025-09-04T18:40:17.095Z,1757011217.095 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-09-04T18:40:17.101Z,1757011217.101 [DAT](INFO): DAT read: 18:40:15.8239 LVL= 30864, 23169, 26706, 32755, AGC= 56, IDX= 505,-0.10, 0.778, 2.559, 1.792, 1.436, PHS=-0.556, 1.168, 0.312, RAW= 299.8, -12.3, CAL= 300.8, -16.9, ROT= 209.2,  16.9

2025-09-04T18:40:17.109Z,1757011217.109 [DAT](INFO): got valid direction response:
 18:40:15.8239 LVL= 30864, 23169, 26706, 32755, AGC= 56, IDX= 505,-0.10, 0.778, 2.559, 1.792, 1.436, PHS=-0.556, 1.168, 0.312, RAW= 299.8, -12.3, CAL= 300.8, -16.9, ROT= 209.2,  16.9

2025-09-04T18:40:17.109Z,1757011217.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:17.110Z,1757011217.110 [DAT](INFO): direction in FSK: [-0.835224,-0.466791,-0.290702]
2025-09-04T18:40:17.111Z,1757011217.111 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:17.128Z,1757011217.128 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:17.128Z,1757011217.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:17.343Z,1757011217.343 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:17.343Z,1757011217.343 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:17.344Z,1757011217.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:17.502Z,1757011217.502 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:17.594Z,1757011217.594 [DAT](INFO): DAT read: Rx Time:18:40:16.3238 

2025-09-04T18:40:17.594Z,1757011217.594 [DAT](INFO): Rx dataTimestamp_ set to:1757011217.593912
2025-09-04T18:40:17.595Z,1757011217.595 [DAT](INFO): DAT read: Bearing 195.8, -32.3 (Local)

2025-09-04T18:40:17.596Z,1757011217.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.8, -32.3 (Local)

2025-09-04T18:40:17.598Z,1757011217.598 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed -0.1

2025-09-04T18:40:17.603Z,1757011217.603 [DAT](INFO): DAT read: 18:40:16.3238 LVL= 30304, 20801, 27890, 32211, AGC= 58, IDX= 504, 0.13, 1.045, 2.842, 2.051, 1.699, PHS=-0.552, 1.189, 0.309, RAW= 300.4, -12.5, CAL= 301.4, -17.0, ROT= 208.6,  17.0

2025-09-04T18:40:17.604Z,1757011217.604 [DAT](INFO): got valid direction response:
 18:40:16.3238 LVL= 30304, 20801, 27890, 32211, AGC= 58, IDX= 504, 0.13, 1.045, 2.842, 2.051, 1.699, PHS=-0.552, 1.189, 0.309, RAW= 300.4, -12.5, CAL= 301.4, -17.0, ROT= 208.6,  17.0

2025-09-04T18:40:17.605Z,1757011217.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:17.605Z,1757011217.605 [DAT](INFO): direction in FSK: [-0.839619,-0.457775,-0.292372]
2025-09-04T18:40:17.606Z,1757011217.606 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:17.609Z,1757011217.609 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:17.610Z,1757011217.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:17.845Z,1757011217.845 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:17.845Z,1757011217.845 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:17.845Z,1757011217.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:17.862Z,1757011217.862 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:18.097Z,1757011218.097 [DAT](INFO): DAT read: Rx Time:18:40:16.8239 

2025-09-04T18:40:18.098Z,1757011218.098 [DAT](INFO): Rx dataTimestamp_ set to:1757011218.097675
2025-09-04T18:40:18.099Z,1757011218.099 [DAT](INFO): DAT read: Bearing 195.7, -32.6 (Local)

2025-09-04T18:40:18.100Z,1757011218.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.7, -32.6 (Local)

2025-09-04T18:40:18.102Z,1757011218.102 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-09-04T18:40:18.106Z,1757011218.106 [DAT](INFO): DAT read: 18:40:16.8239 LVL= 29760, 19361, 27858, 32563, AGC= 58, IDX= 505, 0.44, 2.360,-2.128,-2.915, 3.018, PHS=-0.556, 1.182, 0.307, RAW= 300.3, -12.4, CAL= 301.3, -16.9, ROT= 208.7,  16.9

2025-09-04T18:40:18.107Z,1757011218.107 [DAT](INFO): got valid direction response:
 18:40:16.8239 LVL= 29760, 19361, 27858, 32563, AGC= 58, IDX= 505, 0.44, 2.360,-2.128,-2.915, 3.018, PHS=-0.556, 1.182, 0.307, RAW= 300.3, -12.4, CAL= 301.3, -16.9, ROT= 208.7,  16.9

2025-09-04T18:40:18.107Z,1757011218.107 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:18.108Z,1757011218.108 [DAT](INFO): direction in FSK: [-0.839265,-0.459484,-0.290702]
2025-09-04T18:40:18.109Z,1757011218.109 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:18.112Z,1757011218.112 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:18.112Z,1757011218.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:18.285Z,1757011218.285 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:18.350Z,1757011218.350 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:18.351Z,1757011218.351 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:18.353Z,1757011218.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:18.602Z,1757011218.602 [DAT](INFO): DAT read: Rx Time:18:40:17.3239 

2025-09-04T18:40:18.602Z,1757011218.602 [DAT](INFO): Rx dataTimestamp_ set to:1757011218.601796
2025-09-04T18:40:18.603Z,1757011218.603 [DAT](INFO): DAT read: Bearing 195.5, -32.8 (Local)

2025-09-04T18:40:18.604Z,1757011218.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.5, -32.8 (Local)

2025-09-04T18:40:18.606Z,1757011218.606 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed -0.1

2025-09-04T18:40:18.611Z,1757011218.611 [DAT](INFO): DAT read: 18:40:17.3239 LVL= 28000, 20465, 25122, 28563, AGC= 56, IDX= 505,-0.14,-0.044, 1.745, 0.962, 0.619, PHS=-0.561, 1.171, 0.299, RAW= 300.2, -12.1, CAL= 301.2, -16.6, ROT= 208.8,  16.6

2025-09-04T18:40:18.613Z,1757011218.613 [DAT](INFO): got valid direction response:
 18:40:17.3239 LVL= 28000, 20465, 25122, 28563, AGC= 56, IDX= 505,-0.14,-0.044, 1.745, 0.962, 0.619, PHS=-0.561, 1.171, 0.299, RAW= 300.2, -12.1, CAL= 301.2, -16.6, ROT= 208.8,  16.6

2025-09-04T18:40:18.613Z,1757011218.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:18.614Z,1757011218.614 [DAT](INFO): direction in FSK: [-0.839784,-0.461675,-0.285688]
2025-09-04T18:40:18.614Z,1757011218.614 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:18.618Z,1757011218.618 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:18.618Z,1757011218.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:18.759Z,1757011218.759 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:18.853Z,1757011218.853 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:18.853Z,1757011218.853 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:18.853Z,1757011218.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:19.088Z,1757011219.088 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:19.106Z,1757011219.106 [DAT](INFO): DAT read: Rx Time:18:40:17.8240 

2025-09-04T18:40:19.107Z,1757011219.107 [DAT](INFO): Rx dataTimestamp_ set to:1757011219.106231
2025-09-04T18:40:19.108Z,1757011219.108 [DAT](INFO): DAT read: Bearing 196.4, -32.3 (Local)

2025-09-04T18:40:19.109Z,1757011219.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.4, -32.3 (Local)

2025-09-04T18:40:19.112Z,1757011219.112 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed -0.1

2025-09-04T18:40:19.117Z,1757011219.117 [DAT](INFO): DAT read: 18:40:17.8240 LVL= 27984, 20017, 24850, 29491, AGC= 57, IDX= 506, 0.10, 2.535,-1.950,-2.745,-3.099, PHS=-0.547, 1.194, 0.310, RAW= 300.5, -12.6, CAL= 301.6, -17.2, ROT= 208.4,  17.2

2025-09-04T18:40:19.118Z,1757011219.118 [DAT](INFO): got valid direction response:
 18:40:17.8240 LVL= 27984, 20017, 24850, 29491, AGC= 57, IDX= 506, 0.10, 2.535,-1.950,-2.745,-3.099, PHS=-0.547, 1.194, 0.310, RAW= 300.5, -12.6, CAL= 301.6, -17.2, ROT= 208.4,  17.2

2025-09-04T18:40:19.119Z,1757011219.119 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:19.121Z,1757011219.121 [DAT](INFO): direction in FSK: [-0.840309,-0.454354,-0.295708]
2025-09-04T18:40:19.121Z,1757011219.121 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:19.125Z,1757011219.125 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:19.125Z,1757011219.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:19.359Z,1757011219.359 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:19.359Z,1757011219.359 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:19.359Z,1757011219.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:19.517Z,1757011219.517 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:19.610Z,1757011219.610 [DAT](INFO): DAT read: Rx Time:18:40:18.3239 

2025-09-04T18:40:19.610Z,1757011219.610 [DAT](INFO): Rx dataTimestamp_ set to:1757011219.609909
2025-09-04T18:40:19.611Z,1757011219.611 [DAT](INFO): DAT read: Bearing 196.9, -31.7 (Local)

2025-09-04T18:40:19.612Z,1757011219.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.9, -31.7 (Local)

2025-09-04T18:40:19.615Z,1757011219.615 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-09-04T18:40:19.619Z,1757011219.619 [DAT](INFO): DAT read: 18:40:18.3239 LVL= 30512, 23537, 27778, 32755, AGC= 56, IDX= 505, 0.40, 1.395,-3.086, 2.391, 2.035, PHS=-0.537, 1.207, 0.312, RAW= 300.8, -12.9, CAL= 301.9, -17.5, ROT= 208.1,  17.5

2025-09-04T18:40:19.620Z,1757011219.620 [DAT](INFO): got valid direction response:
 18:40:18.3239 LVL= 30512, 23537, 27778, 32755, AGC= 56, IDX= 505, 0.40, 1.395,-3.086, 2.391, 2.035, PHS=-0.537, 1.207, 0.312, RAW= 300.8, -12.9, CAL= 301.9, -17.5, ROT= 208.1,  17.5

2025-09-04T18:40:19.621Z,1757011219.621 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:19.622Z,1757011219.622 [DAT](INFO): direction in FSK: [-0.841299,-0.449212,-0.300706]
2025-09-04T18:40:19.622Z,1757011219.622 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:19.625Z,1757011219.625 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:19.626Z,1757011219.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:19.861Z,1757011219.861 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:19.861Z,1757011219.861 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:19.861Z,1757011219.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:19.955Z,1757011219.955 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:20.114Z,1757011220.114 [DAT](INFO): DAT read: Rx Time:18:40:18.8240 

2025-09-04T18:40:20.114Z,1757011220.114 [DAT](INFO): Rx dataTimestamp_ set to:1757011220.113783
2025-09-04T18:40:20.115Z,1757011220.115 [DAT](INFO): DAT read: Bearing 197.1, -32.1 (Local)

2025-09-04T18:40:20.116Z,1757011220.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.1, -32.1 (Local)

2025-09-04T18:40:20.118Z,1757011220.118 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-09-04T18:40:20.122Z,1757011220.122 [DAT](INFO): DAT read: 18:40:18.8240 LVL= 32752, 24305, 28194, 32755, AGC= 55, IDX= 506,-0.19,-0.761, 1.036, 0.249,-0.113, PHS=-0.546, 1.195, 0.318, RAW= 300.2, -12.8, CAL= 301.3, -17.3, ROT= 208.7,  17.3

2025-09-04T18:40:20.123Z,1757011220.123 [DAT](INFO): got valid direction response:
 18:40:18.8240 LVL= 32752, 24305, 28194, 32755, AGC= 55, IDX= 506,-0.19,-0.761, 1.036, 0.249,-0.113, PHS=-0.546, 1.195, 0.318, RAW= 300.2, -12.8, CAL= 301.3, -17.3, ROT= 208.7,  17.3

2025-09-04T18:40:20.124Z,1757011220.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:20.125Z,1757011220.125 [DAT](INFO): direction in FSK: [-0.837465,-0.458499,-0.297375]
2025-09-04T18:40:20.125Z,1757011220.125 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:20.157Z,1757011220.157 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:20.157Z,1757011220.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:20.309Z,1757011220.309 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:20.365Z,1757011220.365 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:20.365Z,1757011220.365 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:20.365Z,1757011220.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:20.618Z,1757011220.618 [DAT](INFO): DAT read: Rx Time:18:40:19.3239 

2025-09-04T18:40:20.619Z,1757011220.619 [DAT](INFO): Rx dataTimestamp_ set to:1757011220.618247
2025-09-04T18:40:20.620Z,1757011220.620 [DAT](INFO): DAT read: Bearing 197.6, -31.4 (Local)

2025-09-04T18:40:20.620Z,1757011220.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6, -31.4 (Local)

2025-09-04T18:40:20.622Z,1757011220.622 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-09-04T18:40:20.627Z,1757011220.627 [DAT](INFO): DAT read: 18:40:19.3239 LVL= 32752, 28001, 30770, 32755, AGC= 52, IDX= 505, 0.06,-0.103, 1.698, 0.894, 0.529, PHS=-0.531, 1.213, 0.320, RAW= 300.8, -13.2, CAL= 302.0, -17.7, ROT= 208.0,  17.7

2025-09-04T18:40:20.648Z,1757011220.648 [DAT](INFO): got valid direction response:
 18:40:19.3239 LVL= 32752, 28001, 30770, 32755, AGC= 52, IDX= 505, 0.06,-0.103, 1.698, 0.894, 0.529, PHS=-0.531, 1.213, 0.320, RAW= 300.8, -13.2, CAL= 302.0, -17.7, ROT= 208.0,  17.7

2025-09-04T18:40:20.648Z,1757011220.648 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:20.649Z,1757011220.649 [DAT](INFO): direction in FSK: [-0.841150,-0.447247,-0.304033]
2025-09-04T18:40:20.650Z,1757011220.650 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:20.654Z,1757011220.654 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:20.654Z,1757011220.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:20.763Z,1757011220.763 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:20.869Z,1757011220.869 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:20.870Z,1757011220.870 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:20.870Z,1757011220.870 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:21.100Z,1757011221.100 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:21.122Z,1757011221.122 [DAT](INFO): DAT read: Rx Time:18:40:19.8240 

2025-09-04T18:40:21.123Z,1757011221.123 [DAT](INFO): Rx dataTimestamp_ set to:1757011221.122415
2025-09-04T18:40:21.125Z,1757011221.125 [DAT](INFO): DAT read: Bearing 197.5, -31.2 (Local)

2025-09-04T18:40:21.125Z,1757011221.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.5, -31.2 (Local)

2025-09-04T18:40:21.128Z,1757011221.128 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.0

2025-09-04T18:40:21.133Z,1757011221.133 [DAT](INFO): DAT read: 18:40:19.8240 LVL= 32752, 26801, 29682, 32755, AGC= 51, IDX= 506, 0.23, 2.000,-2.480, 2.999, 2.635, PHS=-0.533, 1.213, 0.320, RAW= 300.8, -13.2, CAL= 301.9, -17.7, ROT= 208.1,  17.7

2025-09-04T18:40:21.134Z,1757011221.134 [DAT](INFO): got valid direction response:
 18:40:19.8240 LVL= 32752, 26801, 29682, 32755, AGC= 51, IDX= 506, 0.23, 2.000,-2.480, 2.999, 2.635, PHS=-0.533, 1.213, 0.320, RAW= 300.8, -13.2, CAL= 301.9, -17.7, ROT= 208.1,  17.7

2025-09-04T18:40:21.134Z,1757011221.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:21.135Z,1757011221.135 [DAT](INFO): direction in FSK: [-0.840368,-0.448715,-0.304033]
2025-09-04T18:40:21.135Z,1757011221.135 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:21.139Z,1757011221.139 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:21.139Z,1757011221.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:21.373Z,1757011221.373 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:21.373Z,1757011221.373 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:21.373Z,1757011221.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:21.531Z,1757011221.531 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:21.626Z,1757011221.626 [DAT](INFO): DAT read: Rx Time:18:40:20.3239 

2025-09-04T18:40:21.626Z,1757011221.626 [DAT](INFO): Rx dataTimestamp_ set to:1757011221.625965
2025-09-04T18:40:21.628Z,1757011221.628 [DAT](INFO): DAT read: Bearing 197.6, -31.1 (Local)

2025-09-04T18:40:21.628Z,1757011221.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6, -31.1 (Local)

2025-09-04T18:40:21.630Z,1757011221.630 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.0

2025-09-04T18:40:21.635Z,1757011221.635 [DAT](INFO): DAT read: 18:40:20.3239 LVL= 32752, 25553, 29010, 32755, AGC= 52, IDX= 505, 0.41, 1.505,-2.970, 2.512, 2.145, PHS=-0.538, 1.213, 0.323, RAW= 300.5, -13.1, CAL= 301.7, -17.6, ROT= 208.3,  17.6

2025-09-04T18:40:21.636Z,1757011221.636 [DAT](INFO): got valid direction response:
 18:40:20.3239 LVL= 32752, 25553, 29010, 32755, AGC= 52, IDX= 505, 0.41, 1.505,-2.970, 2.512, 2.145, PHS=-0.538, 1.213, 0.323, RAW= 300.5, -13.1, CAL= 301.7, -17.6, ROT= 208.3,  17.6

2025-09-04T18:40:21.636Z,1757011221.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:21.637Z,1757011221.637 [DAT](INFO): direction in FSK: [-0.839263,-0.451897,-0.302370]
2025-09-04T18:40:21.637Z,1757011221.637 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:21.641Z,1757011221.641 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:21.641Z,1757011221.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:21.877Z,1757011221.877 [DAT](INFO): DAT read: user:2955>

2025-09-04T18:40:21.877Z,1757011221.877 [DAT](INFO): Reached modem response timeout
2025-09-04T18:40:21.878Z,1757011221.878 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:40:21.878Z,1757011221.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:40:21.914Z,1757011221.914 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:22.129Z,1757011222.129 [DAT](INFO): DAT read: Tx time:18:40:21.2263

2025-09-04T18:40:22.129Z,1757011222.129 [DAT](INFO): Ping request sent.
2025-09-04T18:40:22.129Z,1757011222.129 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:22.130Z,1757011222.130 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:22.130Z,1757011222.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-09-04T18:40:22.314Z,1757011222.314 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.10
2025-09-04T18:40:22.381Z,1757011222.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251717
2025-09-04T18:40:22.633Z,1757011222.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503570
2025-09-04T18:40:22.733Z,1757011222.733 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.14
2025-09-04T18:40:22.885Z,1757011222.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755867
2025-09-04T18:40:23.113Z,1757011223.113 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.14
2025-09-04T18:40:23.137Z,1757011223.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007703
2025-09-04T18:40:23.389Z,1757011223.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259446
2025-09-04T18:40:23.573Z,1757011223.573 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.16
2025-09-04T18:40:23.641Z,1757011223.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511588
2025-09-04T18:40:23.893Z,1757011223.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763457
2025-09-04T18:40:23.935Z,1757011223.935 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.16
2025-09-04T18:40:24.145Z,1757011224.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015419
2025-09-04T18:40:24.346Z,1757011224.346 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.16
2025-09-04T18:40:24.397Z,1757011224.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267375
2025-09-04T18:40:24.649Z,1757011224.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519469
2025-09-04T18:40:24.815Z,1757011224.815 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.20
2025-09-04T18:40:24.901Z,1757011224.901 [DAT](INFO): DAT read: Rx Time:18:40:23.6506

2025-09-04T18:40:24.902Z,1757011224.902 [DAT](INFO): Rx dataTimestamp_ set to:1757011224.901398
2025-09-04T18:40:24.902Z,1757011224.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772691
2025-09-04T18:40:25.145Z,1757011225.145 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.20
2025-09-04T18:40:25.155Z,1757011225.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024996
2025-09-04T18:40:25.407Z,1757011225.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277242
2025-09-04T18:40:25.583Z,1757011225.583 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.23
2025-09-04T18:40:25.664Z,1757011225.664 [DAT](INFO): DAT read: 18:40:23.6506 LVL= 32752, 25233, 32754, 32755, AGC= 53, IDX= 491, 0.44,-2.544,-0.800,-1.607,-1.998, PHS=-0.444, 1.242, 0.347, RAW= 302.1, -15.5, CAL= 303.6, -20.0, ROT= 206.4,  20.0

2025-09-04T18:40:25.665Z,1757011225.665 [DAT](INFO): got valid direction response:
 18:40:23.6506 LVL= 32752, 25233, 32754, 32755, AGC= 53, IDX= 491, 0.44,-2.544,-0.800,-1.607,-1.998, PHS=-0.444, 1.242, 0.347, RAW= 302.1, -15.5, CAL= 303.6, -20.0, ROT= 206.4,  20.0

2025-09-04T18:40:25.666Z,1757011225.666 [DAT](INFO): DAT read: Bearing 200.4, -25.2 (Local)

2025-09-04T18:40:25.667Z,1757011225.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.4, -25.2 (Local)

2025-09-04T18:40:25.673Z,1757011225.673 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m  (Round-trip  20.3 ms) speed  0.0 m/s

2025-09-04T18:40:25.674Z,1757011225.674 [DAT](INFO): DAT read: user:2956>

2025-09-04T18:40:25.675Z,1757011225.675 [DAT](INFO): DAT read: Tx time:18:40:24.7762

2025-09-04T18:40:25.675Z,1757011225.675 [DAT](INFO): Ping request sent.
2025-09-04T18:40:25.675Z,1757011225.675 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:25.675Z,1757011225.675 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:40:25.678Z,1757011225.678 [DAT](INFO): direction in FSK: [-0.841694,-0.417820,-0.342020]
2025-09-04T18:40:25.679Z,1757011225.679 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:25.679Z,1757011225.679 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:25.683Z,1757011225.683 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:25.683Z,1757011225.683 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:25.978Z,1757011225.978 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.23
2025-09-04T18:40:26.352Z,1757011226.352 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.23
2025-09-04T18:40:26.768Z,1757011226.768 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.27
2025-09-04T18:40:27.171Z,1757011227.171 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.27
2025-09-04T18:40:27.595Z,1757011227.595 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.31
2025-09-04T18:40:27.976Z,1757011227.976 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.31
2025-09-04T18:40:28.373Z,1757011228.373 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.31
2025-09-04T18:40:28.438Z,1757011228.438 [DAT](INFO): DAT read: Rx Time:18:40:27.2005

2025-09-04T18:40:28.438Z,1757011228.438 [DAT](INFO): Rx dataTimestamp_ set to:1757011228.437785
2025-09-04T18:40:28.790Z,1757011228.790 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.34
2025-09-04T18:40:29.184Z,1757011229.184 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.34
2025-09-04T18:40:29.200Z,1757011229.200 [DAT](INFO): DAT read: 18:40:27.2005 LVL= 32752, 25585, 29682, 32755, AGC= 53, IDX= 443,-0.34,-0.109, 1.607, 0.837, 0.417, PHS=-0.424, 1.235, 0.376, RAW= 301.2, -16.3, CAL= 302.6, -20.8, ROT= 207.4,  20.8

2025-09-04T18:40:29.201Z,1757011229.201 [DAT](INFO): got valid direction response:
 18:40:27.2005 LVL= 32752, 25585, 29682, 32755, AGC= 53, IDX= 443,-0.34,-0.109, 1.607, 0.837, 0.417, PHS=-0.424, 1.235, 0.376, RAW= 301.2, -16.3, CAL= 302.6, -20.8, ROT= 207.4,  20.8

2025-09-04T18:40:29.202Z,1757011229.202 [DAT](INFO): DAT read: Bearing 202.2, -23.8 (Local)

2025-09-04T18:40:29.202Z,1757011229.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.2, -23.8 (Local)

2025-09-04T18:40:29.204Z,1757011229.204 [DAT](INFO): DAT read: Range 11 to 50 : 15.1 m  (Round-trip  20.2 ms) speed  0.0 m/s

2025-09-04T18:40:29.205Z,1757011229.205 [DAT](INFO): DAT read: user:2957>

2025-09-04T18:40:29.206Z,1757011229.206 [DAT](INFO): DAT read: Tx time:18:40:28.3262

2025-09-04T18:40:29.207Z,1757011229.207 [DAT](INFO): Ping request sent.
2025-09-04T18:40:29.207Z,1757011229.207 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:29.207Z,1757011229.207 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-04T18:40:29.209Z,1757011229.209 [DAT](INFO): direction in FSK: [-0.829953,-0.430206,-0.355107]
2025-09-04T18:40:29.210Z,1757011229.210 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:29.210Z,1757011229.210 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:29.230Z,1757011229.230 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:29.230Z,1757011229.230 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:29.626Z,1757011229.626 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.36
2025-09-04T18:40:29.988Z,1757011229.988 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.36
2025-09-04T18:40:30.386Z,1757011230.386 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.36
2025-09-04T18:40:30.815Z,1757011230.815 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.38
2025-09-04T18:40:31.209Z,1757011231.209 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.38
2025-09-04T18:40:31.651Z,1757011231.651 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.42
2025-09-04T18:40:32.012Z,1757011232.012 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.42
2025-09-04T18:40:32.217Z,1757011232.217 [DAT](INFO): DAT read: Rx Time:18:40:30.7505

2025-09-04T18:40:32.218Z,1757011232.218 [DAT](INFO): Rx dataTimestamp_ set to:1757011232.217397
2025-09-04T18:40:32.420Z,1757011232.420 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.42
2025-09-04T18:40:32.727Z,1757011232.727 [DAT](INFO): DAT read: 18:40:30.7505 LVL= 32752, 29297, 32754, 30675, AGC= 54, IDX= 443, 0.31,-0.002, 1.674, 0.860, 0.412, PHS=-0.312, 1.307, 0.405, RAW= 303.8, -19.4, CAL= 304.4, -23.7, ROT= 205.6,  23.7

2025-09-04T18:40:32.728Z,1757011232.728 [DAT](INFO): got valid direction response:
 18:40:30.7505 LVL= 32752, 29297, 32754, 30675, AGC= 54, IDX= 443, 0.31,-0.002, 1.674, 0.860, 0.412, PHS=-0.312, 1.307, 0.405, RAW= 303.8, -19.4, CAL= 304.4, -23.7, ROT= 205.6,  23.7

2025-09-04T18:40:32.729Z,1757011232.729 [DAT](INFO): DAT read: Bearing 209.0, -20.2 (Local)

2025-09-04T18:40:32.729Z,1757011232.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing 209.0, -20.2 (Local)

2025-09-04T18:40:32.731Z,1757011232.731 [DAT](INFO): DAT read: Range 11 to 50 : 15.1 m  (Round-trip  20.2 ms) speed  0.0 m/s

2025-09-04T18:40:32.731Z,1757011232.731 [DAT](INFO): DAT read: user:2958>

2025-09-04T18:40:32.732Z,1757011232.732 [DAT](INFO): DAT read: Tx time:18:40:31.8762

2025-09-04T18:40:32.732Z,1757011232.732 [DAT](INFO): Ping request sent.
2025-09-04T18:40:32.733Z,1757011232.733 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:32.733Z,1757011232.733 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-04T18:40:32.734Z,1757011232.734 [DAT](INFO): direction in FSK: [-0.825774,-0.395645,-0.401948]
2025-09-04T18:40:32.734Z,1757011232.734 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:32.734Z,1757011232.734 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:32.738Z,1757011232.738 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:32.738Z,1757011232.738 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:32.888Z,1757011232.888 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.44
2025-09-04T18:40:33.218Z,1757011233.218 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.44
2025-09-04T18:40:33.682Z,1757011233.682 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.47
2025-09-04T18:40:34.031Z,1757011234.031 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.47
2025-09-04T18:40:34.432Z,1757011234.432 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.47
2025-09-04T18:40:34.847Z,1757011234.847 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.48
2025-09-04T18:40:35.235Z,1757011235.235 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.48
2025-09-04T18:40:35.710Z,1757011235.710 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.50
2025-09-04T18:40:35.745Z,1757011235.745 [DAT](INFO): DAT read: Rx Time:18:40:34.3007

2025-09-04T18:40:35.745Z,1757011235.745 [DAT](INFO): Rx dataTimestamp_ set to:1757011235.745087
2025-09-04T18:40:36.044Z,1757011236.044 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.50
2025-09-04T18:40:36.259Z,1757011236.259 [DAT](INFO): DAT read: 18:40:34.3007 LVL= 32752, 32369, 32754, 32755, AGC= 54, IDX= 445, 0.47,-1.389, 0.267,-0.559,-0.982, PHS=-0.305, 1.293, 0.379, RAW= 304.8, -19.2, CAL= 305.5, -23.5, ROT= 204.5,  23.5

2025-09-04T18:40:36.260Z,1757011236.260 [DAT](INFO): got valid direction response:
 18:40:34.3007 LVL= 32752, 32369, 32754, 32755, AGC= 54, IDX= 445, 0.47,-1.389, 0.267,-0.559,-0.982, PHS=-0.305, 1.293, 0.379, RAW= 304.8, -19.2, CAL= 305.5, -23.5, ROT= 204.5,  23.5

2025-09-04T18:40:36.261Z,1757011236.261 [DAT](INFO): DAT read: Bearing 210.3, -20.1 (Local)

2025-09-04T18:40:36.262Z,1757011236.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.3, -20.1 (Local)

2025-09-04T18:40:36.263Z,1757011236.263 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m  (Round-trip  20.5 ms) speed  0.0 m/s

2025-09-04T18:40:36.264Z,1757011236.264 [DAT](INFO): DAT read: user:2959>

2025-09-04T18:40:36.265Z,1757011236.265 [DAT](INFO): DAT read: Tx time:18:40:35.4261

2025-09-04T18:40:36.265Z,1757011236.265 [DAT](INFO): Ping request sent.
2025-09-04T18:40:36.265Z,1757011236.265 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:36.265Z,1757011236.265 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-09-04T18:40:36.266Z,1757011236.266 [DAT](INFO): direction in FSK: [-0.834489,-0.380299,-0.398749]
2025-09-04T18:40:36.267Z,1757011236.267 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:36.267Z,1757011236.267 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:36.297Z,1757011236.297 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:36.297Z,1757011236.297 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:36.463Z,1757011236.463 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.50
2025-09-04T18:40:36.870Z,1757011236.870 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:37.258Z,1757011237.258 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:37.728Z,1757011237.728 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:38.060Z,1757011238.060 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:38.466Z,1757011238.466 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:38.908Z,1757011238.908 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:39.273Z,1757011239.273 [DAT](INFO): DAT read: Rx Time:18:40:37.8507

2025-09-04T18:40:39.273Z,1757011239.273 [DAT](INFO): Rx dataTimestamp_ set to:1757011239.273180
2025-09-04T18:40:39.391Z,1757011239.391 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.51
2025-09-04T18:40:39.783Z,1757011239.783 [DAT](INFO): DAT read: 18:40:37.8507 LVL= 32752, 20721, 32754, 32755, AGC= 54, IDX= 446,-0.28,-1.966,-0.214,-1.060,-1.409, PHS=-0.455, 1.241, 0.305, RAW= 303.4, -14.7, CAL= 304.8, -19.1, ROT= 205.2,  19.1

2025-09-04T18:40:39.784Z,1757011239.784 [DAT](INFO): got valid direction response:
 18:40:37.8507 LVL= 32752, 20721, 32754, 32755, AGC= 54, IDX= 446,-0.28,-1.966,-0.214,-1.060,-1.409, PHS=-0.455, 1.241, 0.305, RAW= 303.4, -14.7, CAL= 304.8, -19.1, ROT= 205.2,  19.1

2025-09-04T18:40:39.785Z,1757011239.785 [DAT](INFO): DAT read: Bearing 205.5, -24.3 (Local)

2025-09-04T18:40:39.785Z,1757011239.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5, -24.3 (Local)

2025-09-04T18:40:39.787Z,1757011239.787 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m  (Round-trip  20.5 ms) speed  0.0 m/s

2025-09-04T18:40:39.787Z,1757011239.787 [DAT](INFO): DAT read: user:2960>

2025-09-04T18:40:39.788Z,1757011239.788 [DAT](INFO): DAT read: Tx time:18:40:38.9761

2025-09-04T18:40:39.789Z,1757011239.789 [DAT](INFO): Ping request sent.
2025-09-04T18:40:39.789Z,1757011239.789 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:39.789Z,1757011239.789 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-09-04T18:40:39.790Z,1757011239.790 [DAT](INFO): direction in FSK: [-0.855015,-0.402340,-0.327218]
2025-09-04T18:40:39.790Z,1757011239.790 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:39.790Z,1757011239.790 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:39.802Z,1757011239.802 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:39.802Z,1757011239.802 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:39.832Z,1757011239.832 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.54
2025-09-04T18:40:40.124Z,1757011240.124 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.54
2025-09-04T18:40:40.493Z,1757011240.493 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.54
2025-09-04T18:40:40.920Z,1757011240.920 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.54
2025-09-04T18:40:41.295Z,1757011241.295 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.54
2025-09-04T18:40:41.758Z,1757011241.758 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.54
2025-09-04T18:40:42.121Z,1757011242.121 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:42.515Z,1757011242.515 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:42.801Z,1757011242.801 [DAT](INFO): DAT read: Rx Time:18:40:41.4007

2025-09-04T18:40:42.801Z,1757011242.801 [DAT](INFO): Rx dataTimestamp_ set to:1757011242.801196
2025-09-04T18:40:42.936Z,1757011242.936 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:43.311Z,1757011243.311 [DAT](INFO): DAT read: 18:40:41.4007 LVL= 32752, 20881, 31554, 32755, AGC= 55, IDX= 446,-0.07,-3.117,-1.196,-2.161,-2.369, PHS=-0.647, 1.218, 0.164, RAW= 304.3,  -9.1, CAL= 304.5, -13.3, ROT= 205.5,  13.3

2025-09-04T18:40:43.312Z,1757011243.312 [DAT](INFO): got valid direction response:
 18:40:41.4007 LVL= 32752, 20881, 31554, 32755, AGC= 55, IDX= 446,-0.07,-3.117,-1.196,-2.161,-2.369, PHS=-0.647, 1.218, 0.164, RAW= 304.3,  -9.1, CAL= 304.5, -13.3, ROT= 205.5,  13.3

2025-09-04T18:40:43.313Z,1757011243.313 [DAT](INFO): DAT read: Bearing 198.2, -30.2 (Local)

2025-09-04T18:40:43.313Z,1757011243.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.2, -30.2 (Local)

2025-09-04T18:40:43.315Z,1757011243.315 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m  (Round-trip  20.5 ms) speed  0.0 m/s

2025-09-04T18:40:43.315Z,1757011243.315 [DAT](INFO): DAT read: user:2961>

2025-09-04T18:40:43.316Z,1757011243.316 [DAT](INFO): DAT read: Tx time:18:40:42.5261

2025-09-04T18:40:43.316Z,1757011243.316 [DAT](INFO): Ping request sent.
2025-09-04T18:40:43.317Z,1757011243.317 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:43.317Z,1757011243.317 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-09-04T18:40:43.318Z,1757011243.318 [DAT](INFO): direction in FSK: [-0.878377,-0.418964,-0.230050]
2025-09-04T18:40:43.318Z,1757011243.318 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:43.318Z,1757011243.318 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:43.330Z,1757011243.330 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:43.330Z,1757011243.330 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:43.374Z,1757011243.374 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:43.786Z,1757011243.786 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:44.153Z,1757011244.153 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:44.525Z,1757011244.525 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:44.997Z,1757011244.997 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:45.334Z,1757011245.334 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:45.741Z,1757011245.741 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.53
2025-09-04T18:40:46.166Z,1757011246.166 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.55
2025-09-04T18:40:46.334Z,1757011246.334 [DAT](INFO): DAT read: Rx Time:18:40:44.9508

2025-09-04T18:40:46.334Z,1757011246.334 [DAT](INFO): Rx dataTimestamp_ set to:1757011246.334083
2025-09-04T18:40:46.557Z,1757011246.557 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.55
2025-09-04T18:40:46.843Z,1757011246.843 [DAT](INFO): DAT read: 18:40:44.9508 LVL= 32752, 24945, 32754, 32755, AGC= 56, IDX= 447,-0.01,-0.174, 1.851, 0.799, 0.719, PHS=-0.791, 1.177, 0.036, RAW= 305.3,  -5.0, CAL= 304.6,  -8.9, ROT= 205.4,   8.9

2025-09-04T18:40:46.844Z,1757011246.844 [DAT](INFO): got valid direction response:
 18:40:44.9508 LVL= 32752, 24945, 32754, 32755, AGC= 56, IDX= 447,-0.01,-0.174, 1.851, 0.799, 0.719, PHS=-0.791, 1.177, 0.036, RAW= 305.3,  -5.0, CAL= 304.6,  -8.9, ROT= 205.4,   8.9

2025-09-04T18:40:46.845Z,1757011246.845 [DAT](INFO): DAT read: Bearing 191.5, -34.9 (Local)

2025-09-04T18:40:46.846Z,1757011246.846 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.5, -34.9 (Local)

2025-09-04T18:40:46.847Z,1757011246.847 [DAT](INFO): DAT read: Range 11 to 50 : 15.4 m  (Round-trip  20.6 ms) speed  0.0 m/s

2025-09-04T18:40:46.848Z,1757011246.848 [DAT](INFO): DAT read: user:2962>

2025-09-04T18:40:46.849Z,1757011246.849 [DAT](INFO): DAT read: Tx time:18:40:46.0761

2025-09-04T18:40:46.849Z,1757011246.849 [DAT](INFO): Ping request sent.
2025-09-04T18:40:46.849Z,1757011246.849 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:46.849Z,1757011246.849 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-09-04T18:40:46.850Z,1757011246.850 [DAT](INFO): direction in FSK: [-0.892459,-0.423771,-0.154710]
2025-09-04T18:40:46.850Z,1757011246.850 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:46.851Z,1757011246.851 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:46.854Z,1757011246.854 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:46.854Z,1757011246.854 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:47.050Z,1757011247.050 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.57
2025-09-04T18:40:47.356Z,1757011247.356 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.57
2025-09-04T18:40:47.758Z,1757011247.758 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.57
2025-09-04T18:40:48.192Z,1757011248.192 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.59
2025-09-04T18:40:48.565Z,1757011248.565 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.59
2025-09-04T18:40:48.988Z,1757011248.988 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.61
2025-09-04T18:40:49.381Z,1757011249.381 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.61
2025-09-04T18:40:49.776Z,1757011249.776 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.61
2025-09-04T18:40:49.870Z,1757011249.870 [DAT](INFO): DAT read: Rx Time:18:40:48.5009

2025-09-04T18:40:49.871Z,1757011249.871 [DAT](INFO): Rx dataTimestamp_ set to:1757011249.869991
2025-09-04T18:40:50.202Z,1757011250.202 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.65
2025-09-04T18:40:50.375Z,1757011250.375 [DAT](INFO): DAT read: 18:40:48.5009 LVL= 32752, 20849, 27922, 32755, AGC= 53, IDX= 449, 0.03, 0.564, 2.601, 1.586, 1.511, PHS=-0.845, 1.135, 0.031, RAW= 303.8,  -3.8, CAL= 302.9,  -7.7, ROT= 207.1,   7.7

2025-09-04T18:40:50.376Z,1757011250.376 [DAT](INFO): got valid direction response:
 18:40:48.5009 LVL= 32752, 20849, 27922, 32755, AGC= 53, IDX= 449, 0.03, 0.564, 2.601, 1.586, 1.511, PHS=-0.845, 1.135, 0.031, RAW= 303.8,  -3.8, CAL= 302.9,  -7.7, ROT= 207.1,   7.7

2025-09-04T18:40:50.377Z,1757011250.377 [DAT](INFO): DAT read: Bearing 188.0, -38.2 (Local)

2025-09-04T18:40:50.377Z,1757011250.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.0, -38.2 (Local)

2025-09-04T18:40:50.379Z,1757011250.379 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.8 ms) speed  0.0 m/s

2025-09-04T18:40:50.380Z,1757011250.380 [DAT](INFO): DAT read: user:2963>

2025-09-04T18:40:50.381Z,1757011250.381 [DAT](INFO): DAT read: Tx time:18:40:49.6260

2025-09-04T18:40:50.381Z,1757011250.381 [DAT](INFO): Ping request sent.
2025-09-04T18:40:50.381Z,1757011250.381 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:50.381Z,1757011250.381 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-09-04T18:40:50.382Z,1757011250.382 [DAT](INFO): direction in FSK: [-0.882186,-0.451438,-0.133986]
2025-09-04T18:40:50.383Z,1757011250.383 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:50.383Z,1757011250.383 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:50.386Z,1757011250.386 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:50.386Z,1757011250.386 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:50.626Z,1757011250.626 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.65
2025-09-04T18:40:51.028Z,1757011251.028 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.69
2025-09-04T18:40:51.401Z,1757011251.401 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.69
2025-09-04T18:40:51.797Z,1757011251.797 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.69
2025-09-04T18:40:52.241Z,1757011252.241 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.74
2025-09-04T18:40:52.607Z,1757011252.607 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.74
2025-09-04T18:40:53.033Z,1757011253.033 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.79
2025-09-04T18:40:53.393Z,1757011253.393 [DAT](INFO): DAT read: Rx Time:18:40:52.0509

2025-09-04T18:40:53.394Z,1757011253.394 [DAT](INFO): Rx dataTimestamp_ set to:1757011253.393267
2025-09-04T18:40:53.415Z,1757011253.415 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.79
2025-09-04T18:40:53.923Z,1757011253.923 [DAT](INFO): DAT read: 18:40:52.0509 LVL= 32752, 22177, 31714, 32755, AGC= 52, IDX= 449,-0.18,-0.115, 1.882, 0.935, 0.805, PHS=-0.818, 1.122, 0.086, RAW= 302.2,  -4.7, CAL= 301.6,  -8.8, ROT= 208.4,   8.8

2025-09-04T18:40:53.930Z,1757011253.930 [DAT](INFO): got valid direction response:
 18:40:52.0509 LVL= 32752, 22177, 31714, 32755, AGC= 52, IDX= 449,-0.18,-0.115, 1.882, 0.935, 0.805, PHS=-0.818, 1.122, 0.086, RAW= 302.2,  -4.7, CAL= 301.6,  -8.8, ROT= 208.4,   8.8

2025-09-04T18:40:53.937Z,1757011253.937 [DAT](INFO): DAT read: Bearing 186.6, -36.5 (Local)

2025-09-04T18:40:53.937Z,1757011253.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.6, -36.5 (Local)

2025-09-04T18:40:53.938Z,1757011253.938 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.8 ms) speed  0.0 m/s

2025-09-04T18:40:53.939Z,1757011253.939 [DAT](INFO): DAT read: user:2964>

2025-09-04T18:40:53.976Z,1757011253.976 [DAT](INFO): DAT read: Tx time:18:40:53.1760

2025-09-04T18:40:53.976Z,1757011253.976 [DAT](INFO): Ping request sent.
2025-09-04T18:40:53.976Z,1757011253.976 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:53.977Z,1757011253.977 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-09-04T18:40:53.978Z,1757011253.978 [DAT](INFO): direction in FSK: [-0.869294,-0.470025,-0.152986]
2025-09-04T18:40:53.978Z,1757011253.978 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:53.978Z,1757011253.978 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:53.989Z,1757011253.989 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:53.990Z,1757011253.990 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:54.165Z,1757011254.165 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.86
2025-09-04T18:40:54.350Z,1757011254.350 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.86
2025-09-04T18:40:54.709Z,1757011254.709 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.86
2025-09-04T18:40:55.133Z,1757011255.133 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.93
2025-09-04T18:40:55.494Z,1757011255.494 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.93
2025-09-04T18:40:55.931Z,1757011255.931 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 0.93
2025-09-04T18:40:56.324Z,1757011256.324 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.01
2025-09-04T18:40:56.704Z,1757011256.704 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.01
2025-09-04T18:40:56.929Z,1757011256.929 [DAT](INFO): DAT read: Rx Time:18:40:55.6008

2025-09-04T18:40:56.930Z,1757011256.930 [DAT](INFO): Rx dataTimestamp_ set to:1757011256.929571
2025-09-04T18:40:57.130Z,1757011257.130 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.08
2025-09-04T18:40:57.435Z,1757011257.435 [DAT](INFO): DAT read: 18:40:55.6007 LVL= 29360, 19425, 24546, 28515, AGC= 51, IDX= 448,-0.26,-2.808,-0.989,-1.745,-2.039, PHS=-0.667, 1.096, 0.250, RAW= 298.6,  -8.9, CAL= 299.0, -13.4, ROT= 211.0,  13.4

2025-09-04T18:40:57.436Z,1757011257.436 [DAT](INFO): got valid direction response:
 18:40:55.6007 LVL= 29360, 19425, 24546, 28515, AGC= 51, IDX= 448,-0.26,-2.808,-0.989,-1.745,-2.039, PHS=-0.667, 1.096, 0.250, RAW= 298.6,  -8.9, CAL= 299.0, -13.4, ROT= 211.0,  13.4

2025-09-04T18:40:57.437Z,1757011257.437 [DAT](INFO): DAT read: Bearing 190.6, -32.1 (Local)

2025-09-04T18:40:57.437Z,1757011257.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.6, -32.1 (Local)

2025-09-04T18:40:57.439Z,1757011257.439 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m  (Round-trip  20.7 ms) speed  0.0 m/s

2025-09-04T18:40:57.439Z,1757011257.439 [DAT](INFO): DAT read: user:2965>

2025-09-04T18:40:57.440Z,1757011257.440 [DAT](INFO): DAT read: Tx time:18:40:56.7259

2025-09-04T18:40:57.441Z,1757011257.441 [DAT](INFO): Ping request sent.
2025-09-04T18:40:57.441Z,1757011257.441 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:40:57.441Z,1757011257.441 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-09-04T18:40:57.442Z,1757011257.442 [DAT](INFO): direction in FSK: [-0.833832,-0.501017,-0.231748]
2025-09-04T18:40:57.442Z,1757011257.442 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:57.442Z,1757011257.442 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:57.445Z,1757011257.445 [DAT](INFO): publishing transmit ping time
2025-09-04T18:40:57.446Z,1757011257.446 [DAT](INFO): publishing direction and range info
2025-09-04T18:40:57.575Z,1757011257.575 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.08
2025-09-04T18:40:57.949Z,1757011257.949 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.08
2025-09-04T18:40:58.348Z,1757011258.348 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.19
2025-09-04T18:40:58.721Z,1757011258.721 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.19
2025-09-04T18:40:59.146Z,1757011259.146 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.27
2025-09-04T18:40:59.542Z,1757011259.542 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.27
2025-09-04T18:40:59.933Z,1757011259.933 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.27
2025-09-04T18:41:00.379Z,1757011260.379 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.36
2025-09-04T18:41:00.453Z,1757011260.453 [DAT](INFO): DAT read: Rx Time:18:40:59.1508

2025-09-04T18:41:00.454Z,1757011260.454 [DAT](INFO): Rx dataTimestamp_ set to:1757011260.453364
2025-09-04T18:41:00.742Z,1757011260.742 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.36
2025-09-04T18:41:00.992Z,1757011260.992 [DAT](INFO): DAT read: 18:40:59.1508 LVL= 26864, 19441, 25202, 27635, AGC= 56, IDX= 449,-0.19, 0.508, 2.234, 1.609, 1.181, PHS=-0.572, 1.098, 0.384, RAW= 295.2, -12.5, CAL= 296.3, -17.4, ROT= 213.7,  17.4

2025-09-04T18:41:00.995Z,1757011260.995 [DAT](INFO): got valid direction response:
 18:40:59.1508 LVL= 26864, 19441, 25202, 27635, AGC= 56, IDX= 449,-0.19, 0.508, 2.234, 1.609, 1.181, PHS=-0.572, 1.098, 0.384, RAW= 295.2, -12.5, CAL= 296.3, -17.4, ROT= 213.7,  17.4

2025-09-04T18:41:01.005Z,1757011261.005 [DAT](INFO): DAT read: Bearing 194.9, -27.7 (Local)

2025-09-04T18:41:01.006Z,1757011261.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.9, -27.7 (Local)

2025-09-04T18:41:01.010Z,1757011261.010 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.8 ms) speed -0.1 m/s

2025-09-04T18:41:01.013Z,1757011261.013 [DAT](INFO): DAT read: user:2966>

2025-09-04T18:41:01.015Z,1757011261.015 [DAT](INFO): DAT read: Tx time:18:41:00.2759

2025-09-04T18:41:01.016Z,1757011261.016 [DAT](INFO): Ping request sent.
2025-09-04T18:41:01.016Z,1757011261.016 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:01.017Z,1757011261.017 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-09-04T18:41:01.020Z,1757011261.020 [DAT](INFO): direction in FSK: [-0.793884,-0.529455,-0.299041]
2025-09-04T18:41:01.021Z,1757011261.021 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:01.022Z,1757011261.022 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:01.028Z,1757011261.028 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:01.028Z,1757011261.028 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:01.195Z,1757011261.195 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.44
2025-09-04T18:41:01.554Z,1757011261.554 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.44
2025-09-04T18:41:01.953Z,1757011261.953 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](ERROR): Altitude too low: 1.44
2025-09-04T18:41:03.981Z,1757011263.981 [DAT](INFO): DAT read: Rx Time:18:41:02.7011

2025-09-04T18:41:03.982Z,1757011263.982 [DAT](INFO): Rx dataTimestamp_ set to:1757011263.981356
2025-09-04T18:41:04.743Z,1757011264.743 [DAT](INFO): DAT read: 18:41:02.7011 LVL= 32144, 24209, 28658, 31699, AGC= 52, IDX= 436,-0.48, 1.000, 2.736, 2.105, 1.645, PHS=-0.543, 1.136, 0.416, RAW= 295.3, -13.7, CAL= 296.6, -18.6, ROT= 213.4,  18.6

2025-09-04T18:41:04.744Z,1757011264.744 [DAT](INFO): got valid direction response:
 18:41:02.7011 LVL= 32144, 24209, 28658, 31699, AGC= 52, IDX= 436,-0.48, 1.000, 2.736, 2.105, 1.645, PHS=-0.543, 1.136, 0.416, RAW= 295.3, -13.7, CAL= 296.6, -18.6, ROT= 213.4,  18.6

2025-09-04T18:41:04.745Z,1757011264.745 [DAT](INFO): DAT read: Bearing 197.1, -25.0 (Local)

2025-09-04T18:41:04.745Z,1757011264.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.1, -25.0 (Local)

2025-09-04T18:41:04.747Z,1757011264.747 [DAT](INFO): DAT read: Range 11 to 50 : 15.7 m  (Round-trip  21.0 ms) speed  0.0 m/s

2025-09-04T18:41:04.747Z,1757011264.747 [DAT](INFO): DAT read: user:2967>

2025-09-04T18:41:04.748Z,1757011264.748 [DAT](INFO): DAT read: Tx time:18:41:03.8259

2025-09-04T18:41:04.748Z,1757011264.748 [DAT](INFO): Ping request sent.
2025-09-04T18:41:04.749Z,1757011264.749 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:04.749Z,1757011264.749 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-09-04T18:41:04.750Z,1757011264.750 [DAT](INFO): direction in FSK: [-0.791242,-0.521728,-0.318959]
2025-09-04T18:41:04.750Z,1757011264.750 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:04.750Z,1757011264.750 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:04.779Z,1757011264.779 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:04.780Z,1757011264.780 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:07.509Z,1757011267.509 [DAT](INFO): DAT read: Rx Time:18:41:06.2512

2025-09-04T18:41:07.510Z,1757011267.510 [DAT](INFO): Rx dataTimestamp_ set to:1757011267.509230
2025-09-04T18:41:08.290Z,1757011268.290 [DAT](INFO): DAT read: 18:41:06.2512 LVL= 32688, 26545, 27618, 32755, AGC= 52, IDX= 437, 0.38,-2.922,-1.122,-1.876,-2.248, PHS=-0.572, 1.170, 0.327, RAW= 298.9, -12.2, CAL= 300.0, -16.9, ROT= 210.0,  16.9

2025-09-04T18:41:08.291Z,1757011268.291 [DAT](INFO): got valid direction response:
 18:41:06.2512 LVL= 32688, 26545, 27618, 32755, AGC= 52, IDX= 437, 0.38,-2.922,-1.122,-1.876,-2.248, PHS=-0.572, 1.170, 0.327, RAW= 298.9, -12.2, CAL= 300.0, -16.9, ROT= 210.0,  16.9

2025-09-04T18:41:08.294Z,1757011268.294 [DAT](INFO): DAT read: Bearing 197.3, -24.3 (Local)

2025-09-04T18:41:08.294Z,1757011268.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.3, -24.3 (Local)

2025-09-04T18:41:08.296Z,1757011268.296 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m  (Round-trip  21.1 ms) speed  0.0 m/s

2025-09-04T18:41:08.297Z,1757011268.297 [DAT](INFO): DAT read: user:2968>

2025-09-04T18:41:08.297Z,1757011268.297 [DAT](INFO): DAT read: Tx time:18:41:07.3759

2025-09-04T18:41:08.298Z,1757011268.298 [DAT](INFO): Ping request sent.
2025-09-04T18:41:08.298Z,1757011268.298 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:08.298Z,1757011268.298 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-09-04T18:41:08.299Z,1757011268.299 [DAT](INFO): direction in FSK: [-0.828625,-0.478407,-0.290702]
2025-09-04T18:41:08.299Z,1757011268.299 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:08.299Z,1757011268.299 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:08.361Z,1757011268.361 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:08.362Z,1757011268.362 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:11.039Z,1757011271.039 [DAT](INFO): DAT read: Rx Time:18:41:09.8016

2025-09-04T18:41:11.039Z,1757011271.039 [DAT](INFO): Rx dataTimestamp_ set to:1757011271.039150
2025-09-04T18:41:11.803Z,1757011271.803 [DAT](INFO): DAT read: 18:41:09.8016 LVL= 29376, 20113, 22562, 26707, AGC= 52, IDX= 442, 0.05, 0.538, 2.371, 1.581, 1.238, PHS=-0.597, 1.178, 0.299, RAW= 299.7, -11.4, CAL= 300.5, -16.0, ROT= 209.5,  16.0

2025-09-04T18:41:11.804Z,1757011271.804 [DAT](INFO): got valid direction response:
 18:41:09.8016 LVL= 29376, 20113, 22562, 26707, AGC= 52, IDX= 442, 0.05, 0.538, 2.371, 1.581, 1.238, PHS=-0.597, 1.178, 0.299, RAW= 299.7, -11.4, CAL= 300.5, -16.0, ROT= 209.5,  16.0

2025-09-04T18:41:11.805Z,1757011271.805 [DAT](INFO): DAT read: Bearing 198.1, -25.9 (Local)

2025-09-04T18:41:11.805Z,1757011271.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.1, -25.9 (Local)

2025-09-04T18:41:11.807Z,1757011271.807 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.6 ms) speed -0.3 m/s

2025-09-04T18:41:11.807Z,1757011271.807 [DAT](INFO): DAT read: user:2969>

2025-09-04T18:41:11.808Z,1757011271.808 [DAT](INFO): DAT read: Tx time:18:41:10.9258

2025-09-04T18:41:11.809Z,1757011271.809 [DAT](INFO): Ping request sent.
2025-09-04T18:41:11.809Z,1757011271.809 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:11.809Z,1757011271.809 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-09-04T18:41:11.810Z,1757011271.810 [DAT](INFO): direction in FSK: [-0.836640,-0.473348,-0.275637]
2025-09-04T18:41:11.810Z,1757011271.810 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:11.811Z,1757011271.811 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:11.814Z,1757011271.814 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:11.814Z,1757011271.814 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:14.821Z,1757011274.821 [DAT](INFO): DAT read: Rx Time:18:41:13.3529

2025-09-04T18:41:14.821Z,1757011274.821 [DAT](INFO): Rx dataTimestamp_ set to:1757011274.821198
2025-09-04T18:41:15.331Z,1757011275.331 [DAT](INFO): DAT read: 18:41:13.3529 LVL= 31504, 19921, 25362, 30419, AGC= 54, IDX= 439, 0.14, 1.569,-2.816, 2.572, 2.340, PHS=-0.669, 1.172, 0.187, RAW= 302.3,  -8.7, CAL= 302.5, -12.9, ROT= 207.5,  12.9

2025-09-04T18:41:15.332Z,1757011275.332 [DAT](INFO): got valid direction response:
 18:41:13.3529 LVL= 31504, 19921, 25362, 30419, AGC= 54, IDX= 439, 0.14, 1.569,-2.816, 2.572, 2.340, PHS=-0.669, 1.172, 0.187, RAW= 302.3,  -8.7, CAL= 302.5, -12.9, ROT= 207.5,  12.9

2025-09-04T18:41:15.333Z,1757011275.333 [DAT](INFO): DAT read: Bearing 195.1, -24.1 (Local)

2025-09-04T18:41:15.333Z,1757011275.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.1, -24.1 (Local)

2025-09-04T18:41:15.335Z,1757011275.335 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m  (Round-trip  22.9 ms) speed -0.4 m/s

2025-09-04T18:41:15.335Z,1757011275.335 [DAT](INFO): DAT read: user:2970>

2025-09-04T18:41:15.336Z,1757011275.336 [DAT](INFO): DAT read: Tx time:18:41:14.4758

2025-09-04T18:41:15.336Z,1757011275.336 [DAT](INFO): Ping request sent.
2025-09-04T18:41:15.337Z,1757011275.337 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:15.337Z,1757011275.337 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-09-04T18:41:15.338Z,1757011275.338 [DAT](INFO): direction in FSK: [-0.864624,-0.450095,-0.223250]
2025-09-04T18:41:15.338Z,1757011275.338 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:15.338Z,1757011275.338 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:15.362Z,1757011275.362 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:15.362Z,1757011275.362 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:18.349Z,1757011278.349 [DAT](INFO): DAT read: Rx Time:18:41:16.9050

2025-09-04T18:41:18.350Z,1757011278.350 [DAT](INFO): Rx dataTimestamp_ set to:1757011278.349233
2025-09-04T18:41:18.859Z,1757011278.859 [DAT](INFO): DAT read: 18:41:16.9050 LVL= 32752, 22673, 32754, 32755, AGC= 54, IDX= 445, 0.27,-1.867,-0.014,-0.936,-1.174, PHS=-0.590, 1.205, 0.195, RAW= 304.2, -10.4, CAL= 304.6, -14.6, ROT= 205.4,  14.6

2025-09-04T18:41:18.860Z,1757011278.860 [DAT](INFO): got valid direction response:
 18:41:16.9050 LVL= 32752, 22673, 32754, 32755, AGC= 54, IDX= 445, 0.27,-1.867,-0.014,-0.936,-1.174, PHS=-0.590, 1.205, 0.195, RAW= 304.2, -10.4, CAL= 304.6, -14.6, ROT= 205.4,  14.6

2025-09-04T18:41:18.861Z,1757011278.861 [DAT](INFO): DAT read: Bearing 197.3, -17.9 (Local)

2025-09-04T18:41:18.861Z,1757011278.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.3, -17.9 (Local)

2025-09-04T18:41:18.863Z,1757011278.863 [DAT](INFO): DAT read: Range 11 to 50 : 18.7 m  (Round-trip  25.0 ms) speed -0.5 m/s

2025-09-04T18:41:18.863Z,1757011278.863 [DAT](INFO): DAT read: user:2971>

2025-09-04T18:41:18.864Z,1757011278.864 [DAT](INFO): DAT read: Tx time:18:41:18.0258

2025-09-04T18:41:18.864Z,1757011278.864 [DAT](INFO): Ping request sent.
2025-09-04T18:41:18.864Z,1757011278.864 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:18.865Z,1757011278.865 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-04T18:41:18.866Z,1757011278.866 [DAT](INFO): direction in FSK: [-0.874166,-0.415084,-0.252069]
2025-09-04T18:41:18.866Z,1757011278.866 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:18.866Z,1757011278.866 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:18.870Z,1757011278.870 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:18.870Z,1757011278.870 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:21.893Z,1757011281.893 [DAT](INFO): DAT read: Rx Time:18:41:20.4577

2025-09-04T18:41:21.893Z,1757011281.893 [DAT](INFO): Rx dataTimestamp_ set to:1757011281.893209
2025-09-04T18:41:22.403Z,1757011282.403 [DAT](INFO): DAT read: 18:41:20.4576 LVL= 32752, 26289, 32434, 32755, AGC= 55, IDX= 455, 0.41, 0.188, 1.915, 1.018, 0.650, PHS=-0.360, 1.310, 0.324, RAW= 306.0, -17.2, CAL= 307.1, -21.5, ROT= 202.9,  21.5

2025-09-04T18:41:22.404Z,1757011282.404 [DAT](INFO): got valid direction response:
 18:41:20.4576 LVL= 32752, 26289, 32434, 32755, AGC= 55, IDX= 455, 0.41, 0.188, 1.915, 1.018, 0.650, PHS=-0.360, 1.310, 0.324, RAW= 306.0, -17.2, CAL= 307.1, -21.5, ROT= 202.9,  21.5

2025-09-04T18:41:22.405Z,1757011282.405 [DAT](INFO): DAT read: Bearing 205.3,  -7.7 (Local)

2025-09-04T18:41:22.406Z,1757011282.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.3,  -7.7 (Local)

2025-09-04T18:41:22.407Z,1757011282.407 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m  (Round-trip  27.7 ms) speed -0.7 m/s

2025-09-04T18:41:22.408Z,1757011282.408 [DAT](INFO): DAT read: user:2972>

2025-09-04T18:41:22.425Z,1757011282.425 [DAT](INFO): DAT read: Tx time:18:41:21.5757

2025-09-04T18:41:22.425Z,1757011282.425 [DAT](INFO): Ping request sent.
2025-09-04T18:41:22.425Z,1757011282.425 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:22.425Z,1757011282.425 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-04T18:41:22.426Z,1757011282.426 [DAT](INFO): direction in FSK: [-0.857087,-0.362048,-0.366501]
2025-09-04T18:41:22.427Z,1757011282.427 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:22.427Z,1757011282.427 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:22.430Z,1757011282.430 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:22.430Z,1757011282.430 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:25.421Z,1757011285.421 [DAT](INFO): DAT read: Rx Time:18:41:24.0106

2025-09-04T18:41:25.422Z,1757011285.422 [DAT](INFO): Rx dataTimestamp_ set to:1757011285.421262
2025-09-04T18:41:25.931Z,1757011285.931 [DAT](INFO): DAT read: 18:41:24.0106 LVL= 32752, 29249, 32530, 32755, AGC= 57, IDX= 455,-0.44, 2.597,-2.134,-3.013, 2.813, PHS=-0.114, 1.381, 0.413, RAW= 309.7, -24.3, CAL= 309.3, -28.3, ROT= 200.7,  28.3

2025-09-04T18:41:25.938Z,1757011285.938 [DAT](INFO): got valid direction response:
 18:41:24.0106 LVL= 32752, 29249, 32530, 32755, AGC= 57, IDX= 455,-0.44, 2.597,-2.134,-3.013, 2.813, PHS=-0.114, 1.381, 0.413, RAW= 309.7, -24.3, CAL= 309.3, -28.3, ROT= 200.7,  28.3

2025-09-04T18:41:25.939Z,1757011285.939 [DAT](INFO): DAT read: Bearing 214.1,   2.8 (Local)

2025-09-04T18:41:25.939Z,1757011285.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.1,   2.8 (Local)

2025-09-04T18:41:25.958Z,1757011285.958 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m  (Round-trip  30.7 ms) speed -0.7 m/s

2025-09-04T18:41:25.959Z,1757011285.959 [DAT](INFO): DAT read: user:2973>

2025-09-04T18:41:25.959Z,1757011285.959 [DAT](INFO): DAT read: Tx time:18:41:25.1257

2025-09-04T18:41:25.960Z,1757011285.960 [DAT](INFO): Ping request sent.
2025-09-04T18:41:25.960Z,1757011285.960 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:25.960Z,1757011285.960 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-04T18:41:25.961Z,1757011285.961 [DAT](INFO): direction in FSK: [-0.823637,-0.311227,-0.474088]
2025-09-04T18:41:25.961Z,1757011285.961 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:25.961Z,1757011285.961 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:25.977Z,1757011285.977 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:25.977Z,1757011285.977 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:28.951Z,1757011288.951 [DAT](INFO): DAT read: Rx Time:18:41:27.5639

2025-09-04T18:41:28.951Z,1757011288.951 [DAT](INFO): Rx dataTimestamp_ set to:1757011288.950867
2025-09-04T18:41:29.459Z,1757011289.459 [DAT](INFO): DAT read: 18:41:27.5639 LVL= 32752, 29553, 32754, 32755, AGC= 57, IDX= 457,-0.33,-2.334,-0.919,-1.780 PHS= 0.040, 1.398, 0.447, RAW= 313.0, -28.9, CAL= 311.8, -32.8, ROT= 198.2,  32.8

2025-09-04T18:41:29.460Z,1757011289.460 [DAT](INFO): unknown deviceResponse_: 18:41:27.5639 LVL= 32752, 29553, 32754, 32755, AGC= 57, IDX= 457,-0.33,-2.334,-0.919,-1.780 PHS= 0.040, 1.398, 0.447, RAW= 313.0, -28.9, CAL= 311.8, -32.8, ROT= 198.2,  32.8

2025-09-04T18:41:29.461Z,1757011289.461 [DAT](INFO): DAT read: Bearing 221.8,  11.6 (Local)

2025-09-04T18:41:29.461Z,1757011289.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.8,  11.6 (Local)

2025-09-04T18:41:29.463Z,1757011289.463 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m  (Round-trip  34.0 ms) speed -0.8 m/s

2025-09-04T18:41:29.463Z,1757011289.463 [DAT](INFO): DAT read: user:2974>

2025-09-04T18:41:29.464Z,1757011289.464 [DAT](INFO): DAT read: Tx time:18:41:28.6757

2025-09-04T18:41:29.464Z,1757011289.464 [DAT](INFO): Ping request sent.
2025-09-04T18:41:29.465Z,1757011289.465 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:29.465Z,1757011289.465 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-09-04T18:41:29.465Z,1757011289.465 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:29.466Z,1757011289.466 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:29.526Z,1757011289.526 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00031122290101,35.0, +110,1494.0,  0
2025-09-04T18:41:32.479Z,1757011292.479 [DAT](INFO): DAT read: Rx Time:18:41:31.1176

2025-09-04T18:41:32.481Z,1757011292.481 [DAT](INFO): Rx dataTimestamp_ set to:1757011292.480075
2025-09-04T18:41:32.987Z,1757011292.987 [DAT](INFO): DAT read: 18:41:31.1176 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 463,-0.12,-0.109, 1.253, 0.350,-0.183, PHS= 0.176, 1.481, 0.488, RAW= 316.7, -32.7, CAL= 315.1, -36.6, ROT= 194.9,  36.6

2025-09-04T18:41:32.988Z,1757011292.988 [DAT](INFO): got valid direction response:
 18:41:31.1176 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 463,-0.12,-0.109, 1.253, 0.350,-0.183, PHS= 0.176, 1.481, 0.488, RAW= 316.7, -32.7, CAL= 315.1, -36.6, ROT= 194.9,  36.6

2025-09-04T18:41:32.989Z,1757011292.989 [DAT](INFO): DAT read: Bearing 229.9,  17.8 (Local)

2025-09-04T18:41:32.989Z,1757011292.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.9,  17.8 (Local)

2025-09-04T18:41:32.991Z,1757011292.991 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m  (Round-trip  37.7 ms) speed -0.8 m/s

2025-09-04T18:41:32.991Z,1757011292.991 [DAT](INFO): DAT read: user:2975>

2025-09-04T18:41:32.992Z,1757011292.992 [DAT](INFO): DAT read: Tx time:18:41:32.2257

2025-09-04T18:41:32.992Z,1757011292.992 [DAT](INFO): Ping request sent.
2025-09-04T18:41:32.992Z,1757011292.992 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:32.993Z,1757011292.993 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-09-04T18:41:32.994Z,1757011292.994 [DAT](INFO): direction in FSK: [-0.775824,-0.206431,-0.596225]
2025-09-04T18:41:32.994Z,1757011292.994 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:32.994Z,1757011292.994 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:32.998Z,1757011292.998 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:32.998Z,1757011292.998 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:36.005Z,1757011296.005 [DAT](INFO): DAT read: Rx Time:18:41:34.6712

2025-09-04T18:41:36.005Z,1757011296.005 [DAT](INFO): Rx dataTimestamp_ set to:1757011296.005206
2025-09-04T18:41:36.534Z,1757011296.534 [DAT](INFO): DAT read: 18:41:34.6712 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 468, 0.18,-2.765,-1.450,-2.441,-2.945, PHS= 0.282, 1.540, 0.460, RAW= 322.5, -34.4, CAL= 321.3, -38.3, ROT= 188.7,  38.3

2025-09-04T18:41:36.537Z,1757011296.537 [DAT](INFO): got valid direction response:
 18:41:34.6712 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 468, 0.18,-2.765,-1.450,-2.441,-2.945, PHS= 0.282, 1.540, 0.460, RAW= 322.5, -34.4, CAL= 321.3, -38.3, ROT= 188.7,  38.3

2025-09-04T18:41:36.540Z,1757011296.540 [DAT](INFO): DAT read: Bearing 236.7,  24.6 (Local)

2025-09-04T18:41:36.541Z,1757011296.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.7,  24.6 (Local)

2025-09-04T18:41:36.565Z,1757011296.565 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m  (Round-trip  41.5 ms) speed -0.8 m/s

2025-09-04T18:41:36.566Z,1757011296.566 [DAT](INFO): DAT read: user:2976>

2025-09-04T18:41:36.567Z,1757011296.567 [DAT](INFO): DAT read: Tx time:18:41:35.7756

2025-09-04T18:41:36.567Z,1757011296.567 [DAT](INFO): Ping request sent.
2025-09-04T18:41:36.567Z,1757011296.567 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:36.567Z,1757011296.567 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-04T18:41:36.569Z,1757011296.569 [DAT](INFO): direction in FSK: [-0.775747,-0.118706,-0.619779]
2025-09-04T18:41:36.569Z,1757011296.569 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:36.569Z,1757011296.569 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:36.613Z,1757011296.613 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:36.613Z,1757011296.613 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:39.536Z,1757011299.536 [DAT](INFO): DAT read: Rx Time:18:41:38.2251

2025-09-04T18:41:39.537Z,1757011299.537 [DAT](INFO): Rx dataTimestamp_ set to:1757011299.536444
2025-09-04T18:41:40.050Z,1757011300.050 [DAT](INFO): DAT read: 18:41:38.2251 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 460, 0.34, 2.866,-2.191, 3.103, 2.764, PHS= 0.204, 1.372, 0.295, RAW= 326.0, -30.4, CAL= 325.5, -34.1, ROT= 184.5,  34.1

2025-09-04T18:41:40.051Z,1757011300.051 [DAT](INFO): got valid direction response:
 18:41:38.2251 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 460, 0.34, 2.866,-2.191, 3.103, 2.764, PHS= 0.204, 1.372, 0.295, RAW= 326.0, -30.4, CAL= 325.5, -34.1, ROT= 184.5,  34.1

2025-09-04T18:41:40.056Z,1757011300.056 [DAT](INFO): DAT read: Bearing 235.8,  30.8 (Local)

2025-09-04T18:41:40.056Z,1757011300.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.8,  30.8 (Local)

2025-09-04T18:41:40.058Z,1757011300.058 [DAT](INFO): DAT read: Range 11 to 50 : 34.0 m  (Round-trip  45.4 ms) speed -0.8 m/s

2025-09-04T18:41:40.058Z,1757011300.058 [DAT](INFO): DAT read: user:2977>

2025-09-04T18:41:40.059Z,1757011300.059 [DAT](INFO): DAT read: Tx time:18:41:39.3256

2025-09-04T18:41:40.059Z,1757011300.059 [DAT](INFO): Ping request sent.
2025-09-04T18:41:40.060Z,1757011300.059 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:40.084Z,1757011300.084 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-04T18:41:40.085Z,1757011300.085 [DAT](INFO): direction in FSK: [-0.825508,-0.064969,-0.560639]
2025-09-04T18:41:40.085Z,1757011300.085 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:40.086Z,1757011300.086 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:40.093Z,1757011300.093 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:40.094Z,1757011300.094 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:43.061Z,1757011303.061 [DAT](INFO): DAT read: Rx Time:18:41:41.7792

2025-09-04T18:41:43.062Z,1757011303.062 [DAT](INFO): Rx dataTimestamp_ set to:1757011303.061462
2025-09-04T18:41:43.605Z,1757011303.605 [DAT](INFO): DAT read: 18:41:41.7792 LVL= 32752, 29617, 32754, 32755, AGC= 59, IDX= 470, 0.36,-2.358,-1.066,-2.182,-2.471, PHS= 0.215, 1.450, 0.244, RAW= 328.8, -28.9, CAL= 328.5, -32.5, ROT= 181.5,  32.5

2025-09-04T18:41:43.614Z,1757011303.614 [DAT](INFO): got valid direction response:
 18:41:41.7792 LVL= 32752, 29617, 32754, 32755, AGC= 59, IDX= 470, 0.36,-2.358,-1.066,-2.182,-2.471, PHS= 0.215, 1.450, 0.244, RAW= 328.8, -28.9, CAL= 328.5, -32.5, ROT= 181.5,  32.5

2025-09-04T18:41:43.656Z,1757011303.656 [DAT](INFO): DAT read: Bearing 236.9,  33.6 (Local)

2025-09-04T18:41:43.657Z,1757011303.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.9,  33.6 (Local)

2025-09-04T18:41:43.658Z,1757011303.658 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m  (Round-trip  49.5 ms) speed -0.9 m/s

2025-09-04T18:41:43.659Z,1757011303.659 [DAT](INFO): DAT read: user:2978>

2025-09-04T18:41:43.660Z,1757011303.660 [DAT](INFO): DAT read: Tx time:18:41:42.8756

2025-09-04T18:41:43.668Z,1757011303.668 [DAT](INFO): Ping request sent.
2025-09-04T18:41:43.668Z,1757011303.668 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:43.669Z,1757011303.669 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-09-04T18:41:43.670Z,1757011303.670 [DAT](INFO): direction in FSK: [-0.843102,-0.022077,-0.537300]
2025-09-04T18:41:43.670Z,1757011303.670 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:43.670Z,1757011303.670 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:43.689Z,1757011303.689 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:43.690Z,1757011303.690 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:46.609Z,1757011306.609 [DAT](INFO): DAT read: Rx Time:18:41:45.3336

2025-09-04T18:41:46.609Z,1757011306.609 [DAT](INFO): Rx dataTimestamp_ set to:1757011306.609207
2025-09-04T18:41:47.372Z,1757011307.372 [DAT](INFO): DAT read: 18:41:45.3336 LVL= 32496, 31473, 32754, 31411, AGC= 60, IDX= 468,-0.37, 0.697, 1.971, 0.761, 0.625, PHS= 0.174, 1.391, 0.093, RAW= 333.2, -25.0, CAL= 333.2, -28.2, ROT= 176.8,  28.2

2025-09-04T18:41:47.373Z,1757011307.373 [DAT](INFO): got valid direction response:
 18:41:45.3336 LVL= 32496, 31473, 32754, 31411, AGC= 60, IDX= 468,-0.37, 0.697, 1.971, 0.761, 0.625, PHS= 0.174, 1.391, 0.093, RAW= 333.2, -25.0, CAL= 333.2, -28.2, ROT= 176.8,  28.2

2025-09-04T18:41:47.374Z,1757011307.374 [DAT](INFO): DAT read: Bearing 236.2,  37.9 (Local)

2025-09-04T18:41:47.374Z,1757011307.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.2,  37.9 (Local)

2025-09-04T18:41:47.376Z,1757011307.376 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m  (Round-trip  53.9 ms) speed -1.0 m/s

2025-09-04T18:41:47.376Z,1757011307.376 [DAT](INFO): DAT read: user:2979>

2025-09-04T18:41:47.377Z,1757011307.377 [DAT](INFO): DAT read: Tx time:18:41:46.4256

2025-09-04T18:41:47.377Z,1757011307.377 [DAT](INFO): Ping request sent.
2025-09-04T18:41:47.378Z,1757011307.378 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:47.378Z,1757011307.378 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-04T18:41:47.379Z,1757011307.379 [DAT](INFO): direction in FSK: [-0.879929,0.049196,-0.472551]
2025-09-04T18:41:47.379Z,1757011307.379 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:47.379Z,1757011307.379 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:47.382Z,1757011307.382 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:47.383Z,1757011307.383 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:50.138Z,1757011310.138 [DAT](INFO): DAT read: Rx Time:18:41:48.8880

2025-09-04T18:41:50.138Z,1757011310.138 [DAT](INFO): Rx dataTimestamp_ set to:1757011310.138011
2025-09-04T18:41:50.900Z,1757011310.900 [DAT](INFO): DAT read: 18:41:48.8880 LVL= 32752, 32353, 32754, 32755, AGC= 63, IDX= 466, 0.00, 2.800,-2.202, 2.809, 2.855, PHS= 0.047, 1.272,-0.090, RAW= 335.2, -18.5, CAL= 335.2, -21.8, ROT= 174.8,  21.8

2025-09-04T18:41:50.901Z,1757011310.901 [DAT](INFO): got valid direction response:
 18:41:48.8880 LVL= 32752, 32353, 32754, 32755, AGC= 63, IDX= 466, 0.00, 2.800,-2.202, 2.809, 2.855, PHS= 0.047, 1.272,-0.090, RAW= 335.2, -18.5, CAL= 335.2, -21.8, ROT= 174.8,  21.8

2025-09-04T18:41:50.902Z,1757011310.902 [DAT](INFO): DAT read: Bearing 232.2,  40.7 (Local)

2025-09-04T18:41:50.903Z,1757011310.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 232.2,  40.7 (Local)

2025-09-04T18:41:50.905Z,1757011310.905 [DAT](INFO): DAT read: Range 11 to 50 : 43.7 m  (Round-trip  58.3 ms) speed -0.9 m/s

2025-09-04T18:41:50.906Z,1757011310.906 [DAT](INFO): DAT read: user:2980>

2025-09-04T18:41:50.907Z,1757011310.907 [DAT](INFO): DAT read: Tx time:18:41:49.9755

2025-09-04T18:41:50.907Z,1757011310.907 [DAT](INFO): Ping request sent.
2025-09-04T18:41:50.907Z,1757011310.907 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:50.908Z,1757011310.908 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-09-04T18:41:50.929Z,1757011310.929 [DAT](INFO): direction in FSK: [-0.924665,0.084151,-0.371368]
2025-09-04T18:41:50.930Z,1757011310.930 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:50.930Z,1757011310.930 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:50.939Z,1757011310.939 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:50.939Z,1757011310.939 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:53.921Z,1757011313.921 [DAT](INFO): DAT read: Rx Time:18:41:52.4426

2025-09-04T18:41:53.922Z,1757011313.922 [DAT](INFO): Rx dataTimestamp_ set to:1757011313.921325
2025-09-04T18:41:54.431Z,1757011314.431 [DAT](INFO): DAT read: 18:41:52.4426 LVL= 32752, 26193, 32754, 32755, AGC= 64, IDX= 465,-0.37, 1.662, 2.994, 1.534, 1.767, PHS=-0.003, 1.272,-0.277, RAW= 339.5, -13.8, CAL= 339.3, -16.9, ROT= 170.7,  16.9

2025-09-04T18:41:54.432Z,1757011314.432 [DAT](INFO): got valid direction response:
 18:41:52.4426 LVL= 32752, 26193, 32754, 32755, AGC= 64, IDX= 465,-0.37, 1.662, 2.994, 1.534, 1.767, PHS=-0.003, 1.272,-0.277, RAW= 339.5, -13.8, CAL= 339.3, -16.9, ROT= 170.7,  16.9

2025-09-04T18:41:54.433Z,1757011314.433 [DAT](INFO): DAT read: Bearing 231.1,  44.1 (Local)

2025-09-04T18:41:54.433Z,1757011314.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.1,  44.1 (Local)

2025-09-04T18:41:54.435Z,1757011314.435 [DAT](INFO): DAT read: Range 11 to 50 : 47.1 m  (Round-trip  62.9 ms) speed -0.8 m/s

2025-09-04T18:41:54.435Z,1757011314.435 [DAT](INFO): DAT read: user:2981>

2025-09-04T18:41:54.436Z,1757011314.436 [DAT](INFO): DAT read: Tx time:18:41:53.5755

2025-09-04T18:41:54.437Z,1757011314.437 [DAT](INFO): Ping request sent.
2025-09-04T18:41:54.437Z,1757011314.437 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:54.437Z,1757011314.437 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-09-04T18:41:54.438Z,1757011314.438 [DAT](INFO): direction in FSK: [-0.944237,0.154625,-0.290702]
2025-09-04T18:41:54.438Z,1757011314.438 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:54.439Z,1757011314.439 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:54.442Z,1757011314.442 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:54.442Z,1757011314.442 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:57.449Z,1757011317.449 [DAT](INFO): DAT read: Rx Time:18:41:56.0473

2025-09-04T18:41:57.449Z,1757011317.449 [DAT](INFO): Rx dataTimestamp_ set to:1757011317.449201
2025-09-04T18:41:57.959Z,1757011317.959 [DAT](INFO): DAT read: 18:41:56.0473 LVL= 32752, 27793, 32754, 32755, AGC= 64, IDX= 481,-0.20, 3.118,-1.821, 2.893,-2.987, PHS=-0.077, 1.211,-0.448, RAW= 342.3,  -9.1, CAL= 342.0, -12.2, ROT= 168.0,  12.2

2025-09-04T18:41:57.960Z,1757011317.960 [DAT](INFO): got valid direction response:
 18:41:56.0473 LVL= 32752, 27793, 32754, 32755, AGC= 64, IDX= 481,-0.20, 3.118,-1.821, 2.893,-2.987, PHS=-0.077, 1.211,-0.448, RAW= 342.3,  -9.1, CAL= 342.0, -12.2, ROT= 168.0,  12.2

2025-09-04T18:41:57.962Z,1757011317.962 [DAT](INFO): DAT read: Bearing 226.0,  47.6 (Local)

2025-09-04T18:41:57.963Z,1757011317.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.0,  47.6 (Local)

2025-09-04T18:41:57.988Z,1757011317.988 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m  (Round-trip  67.6 ms) speed -1.0 m/s

2025-09-04T18:41:57.989Z,1757011317.989 [DAT](INFO): DAT read: user:2982>

2025-09-04T18:41:57.990Z,1757011317.990 [DAT](INFO): DAT read: Tx time:18:41:57.1755

2025-09-04T18:41:57.990Z,1757011317.990 [DAT](INFO): Ping request sent.
2025-09-04T18:41:57.990Z,1757011317.990 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:41:57.991Z,1757011317.991 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-09-04T18:41:57.991Z,1757011317.991 [DAT](INFO): direction in FSK: [-0.956057,0.203216,-0.211325]
2025-09-04T18:41:57.992Z,1757011317.992 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:57.992Z,1757011317.992 [DAT](INFO): publishing direction and range info
2025-09-04T18:41:57.995Z,1757011317.995 [DAT](INFO): publishing transmit ping time
2025-09-04T18:41:57.995Z,1757011317.995 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:00.977Z,1757011320.977 [DAT](INFO): DAT read: Rx Time:18:41:59.6518

2025-09-04T18:42:00.978Z,1757011320.978 [DAT](INFO): Rx dataTimestamp_ set to:1757011320.977237
2025-09-04T18:42:01.487Z,1757011321.487 [DAT](INFO): DAT read: 18:41:59.6518 LVL= 31808, 24561, 32754, 32755, AGC= 63, IDX= 480, 0.40,-2.272,-0.932,-2.579,-2.083, PHS=-0.087, 1.196,-0.540, RAW= 344.6,  -7.4, CAL= 344.2, -10.4, ROT= 165.8,  10.4

2025-09-04T18:42:01.488Z,1757011321.488 [DAT](INFO): got valid direction response:
 18:41:59.6518 LVL= 31808, 24561, 32754, 32755, AGC= 63, IDX= 480, 0.40,-2.272,-0.932,-2.579,-2.083, PHS=-0.087, 1.196,-0.540, RAW= 344.6,  -7.4, CAL= 344.2, -10.4, ROT= 165.8,  10.4

2025-09-04T18:42:01.489Z,1757011321.489 [DAT](INFO): DAT read: Bearing 226.1,  48.2 (Local)

2025-09-04T18:42:01.490Z,1757011321.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.1,  48.2 (Local)

2025-09-04T18:42:01.491Z,1757011321.491 [DAT](INFO): DAT read: Range 11 to 50 : 54.1 m  (Round-trip  72.2 ms) speed -1.0 m/s

2025-09-04T18:42:01.492Z,1757011321.492 [DAT](INFO): DAT read: user:2983>

2025-09-04T18:42:01.493Z,1757011321.493 [DAT](INFO): DAT read: Tx time:18:42:00.7754

2025-09-04T18:42:01.493Z,1757011321.493 [DAT](INFO): Ping request sent.
2025-09-04T18:42:01.493Z,1757011321.493 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:01.493Z,1757011321.493 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-09-04T18:42:01.494Z,1757011321.494 [DAT](INFO): direction in FSK: [-0.953519,0.241277,-0.180519]
2025-09-04T18:42:01.494Z,1757011321.494 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:01.495Z,1757011321.495 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:01.522Z,1757011321.522 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:01.522Z,1757011321.522 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:04.509Z,1757011324.509 [DAT](INFO): DAT read: Rx Time:18:42:03.2567

2025-09-04T18:42:04.510Z,1757011324.510 [DAT](INFO): Rx dataTimestamp_ set to:1757011324.509250
2025-09-04T18:42:05.271Z,1757011325.271 [DAT](INFO): DAT read: 18:42:03.2567 LVL= 32752, 26193, 32754, 32755, AGC= 65, IDX= 483,-0.45,-0.262, 1.081,-0.623,-0.025, PHS=-0.135, 1.150,-0.643, RAW= 345.9,  -4.7, CAL= 345.6,  -7.7, ROT= 164.4,   7.7

2025-09-04T18:42:05.272Z,1757011325.272 [DAT](INFO): got valid direction response:
 18:42:03.2567 LVL= 32752, 26193, 32754, 32755, AGC= 65, IDX= 483,-0.45,-0.262, 1.081,-0.623,-0.025, PHS=-0.135, 1.150,-0.643, RAW= 345.9,  -4.7, CAL= 345.6,  -7.7, ROT= 164.4,   7.7

2025-09-04T18:42:05.273Z,1757011325.273 [DAT](INFO): DAT read: Bearing 225.5,  49.2 (Local)

2025-09-04T18:42:05.274Z,1757011325.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.5,  49.2 (Local)

2025-09-04T18:42:05.275Z,1757011325.275 [DAT](INFO): DAT read: Range 11 to 50 : 57.8 m  (Round-trip  77.1 ms) speed -0.9 m/s

2025-09-04T18:42:05.276Z,1757011325.276 [DAT](INFO): DAT read: user:2984>

2025-09-04T18:42:05.277Z,1757011325.277 [DAT](INFO): DAT read: Tx time:18:42:04.3754

2025-09-04T18:42:05.277Z,1757011325.277 [DAT](INFO): Ping request sent.
2025-09-04T18:42:05.277Z,1757011325.277 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:05.277Z,1757011325.277 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-09-04T18:42:05.278Z,1757011325.278 [DAT](INFO): direction in FSK: [-0.954478,0.266495,-0.133986]
2025-09-04T18:42:05.279Z,1757011325.279 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:05.279Z,1757011325.279 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:05.282Z,1757011325.282 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:05.282Z,1757011325.282 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:08.290Z,1757011328.290 [DAT](INFO): DAT read: Rx Time:18:42:06.8615

2025-09-04T18:42:08.290Z,1757011328.290 [DAT](INFO): Rx dataTimestamp_ set to:1757011328.289769
2025-09-04T18:42:08.800Z,1757011328.800 [DAT](INFO): DAT read: 18:42:06.8615 LVL= 32752, 25729, 32754, 32755, AGC= 66, IDX= 467,-0.09, 1.722, 3.030, 1.275, 1.938, PHS=-0.115, 1.137,-0.708, RAW= 348.4,  -3.9, CAL= 348.0,  -6.9, ROT= 162.0,   6.9

2025-09-04T18:42:08.801Z,1757011328.801 [DAT](INFO): got valid direction response:
 18:42:06.8615 LVL= 32752, 25729, 32754, 32755, AGC= 66, IDX= 467,-0.09, 1.722, 3.030, 1.275, 1.938, PHS=-0.115, 1.137,-0.708, RAW= 348.4,  -3.9, CAL= 348.0,  -6.9, ROT= 162.0,   6.9

2025-09-04T18:42:08.802Z,1757011328.802 [DAT](INFO): DAT read: Bearing 230.7,  51.1 (Local)

2025-09-04T18:42:08.803Z,1757011328.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.7,  51.1 (Local)

2025-09-04T18:42:08.804Z,1757011328.804 [DAT](INFO): DAT read: Range 11 to 50 : 61.4 m  (Round-trip  81.9 ms) speed -1.0 m/s

2025-09-04T18:42:08.805Z,1757011328.805 [DAT](INFO): DAT read: user:2985>

2025-09-04T18:42:08.806Z,1757011328.806 [DAT](INFO): DAT read: Tx time:18:42:07.9770

2025-09-04T18:42:08.806Z,1757011328.806 [DAT](INFO): Ping request sent.
2025-09-04T18:42:08.806Z,1757011328.806 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:08.806Z,1757011328.806 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-04T18:42:08.807Z,1757011328.807 [DAT](INFO): direction in FSK: [-0.944168,0.306779,-0.120137]
2025-09-04T18:42:08.808Z,1757011328.808 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:08.808Z,1757011328.808 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:08.811Z,1757011328.811 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:08.812Z,1757011328.812 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:11.817Z,1757011331.817 [DAT](INFO): DAT read: Rx Time:18:42:10.4676

2025-09-04T18:42:11.818Z,1757011331.818 [DAT](INFO): Rx dataTimestamp_ set to:1757011331.817457
2025-09-04T18:42:12.327Z,1757011332.327 [DAT](INFO): DAT read: 18:42:10.4676 LVL= 32752, 22881, 32754, 32755, AGC= 63, IDX= 466, 0.25,-1.238, 0.056,-1.732,-0.994, PHS=-0.141, 1.096,-0.781, RAW= 349.6,  -2.1, CAL= 349.2,  -5.1, ROT= 160.8,   5.1

2025-09-04T18:42:12.329Z,1757011332.329 [DAT](INFO): got valid direction response:
 18:42:10.4676 LVL= 32752, 22881, 32754, 32755, AGC= 63, IDX= 466, 0.25,-1.238, 0.056,-1.732,-0.994, PHS=-0.141, 1.096,-0.781, RAW= 349.6,  -2.1, CAL= 349.2,  -5.1, ROT= 160.8,   5.1

2025-09-04T18:42:12.330Z,1757011332.330 [DAT](INFO): DAT read: Bearing 230.4,  53.0 (Local)

2025-09-04T18:42:12.330Z,1757011332.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.4,  53.0 (Local)

2025-09-04T18:42:12.331Z,1757011332.331 [DAT](INFO): DAT read: Range 11 to 50 : 64.8 m  (Round-trip  86.5 ms) speed -0.8 m/s

2025-09-04T18:42:12.332Z,1757011332.332 [DAT](INFO): DAT read: user:2986>

2025-09-04T18:42:12.333Z,1757011332.333 [DAT](INFO): DAT read: Tx time:18:42:11.5754

2025-09-04T18:42:12.333Z,1757011332.333 [DAT](INFO): Ping request sent.
2025-09-04T18:42:12.333Z,1757011332.333 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:12.334Z,1757011332.334 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-09-04T18:42:12.335Z,1757011332.335 [DAT](INFO): direction in FSK: [-0.940638,0.327565,-0.088894]
2025-09-04T18:42:12.335Z,1757011332.335 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:12.335Z,1757011332.335 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:12.350Z,1757011332.350 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:12.351Z,1757011332.351 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:15.365Z,1757011335.365 [DAT](INFO): DAT read: Rx Time:18:42:14.0705

2025-09-04T18:42:15.365Z,1757011335.365 [DAT](INFO): Rx dataTimestamp_ set to:1757011335.365205
2025-09-04T18:42:15.891Z,1757011335.891 [DAT](INFO): DAT read: 18:42:14.0705 LVL= 31952, 22225, 32754, 32755, AGC= 64, IDX= 464, 0.07,-0.781, 0.530,-1.302,-0.507, PHS=-0.171, 1.082,-0.839, RAW= 350.0,  -0.9, CAL= 349.6,  -3.9, ROT= 160.4,   3.9

2025-09-04T18:42:15.892Z,1757011335.892 [DAT](INFO): got valid direction response:
 18:42:14.0705 LVL= 31952, 22225, 32754, 32755, AGC= 64, IDX= 464, 0.07,-0.781, 0.530,-1.302,-0.507, PHS=-0.171, 1.082,-0.839, RAW= 350.0,  -0.9, CAL= 349.6,  -3.9, ROT= 160.4,   3.9

2025-09-04T18:42:15.893Z,1757011335.893 [DAT](INFO): DAT read: Bearing 231.7,  53.8 (Local)

2025-09-04T18:42:15.894Z,1757011335.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.7,  53.8 (Local)

2025-09-04T18:42:15.895Z,1757011335.895 [DAT](INFO): DAT read: Range 11 to 50 : 68.2 m  (Round-trip  91.0 ms) speed -0.5 m/s

2025-09-04T18:42:15.896Z,1757011335.896 [DAT](INFO): DAT read: user:2987>

2025-09-04T18:42:15.897Z,1757011335.897 [DAT](INFO): DAT read: Tx time:18:42:15.1753

2025-09-04T18:42:15.897Z,1757011335.897 [DAT](INFO): Ping request sent.
2025-09-04T18:42:15.897Z,1757011335.897 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:15.897Z,1757011335.897 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-04T18:42:15.898Z,1757011335.898 [DAT](INFO): direction in FSK: [-0.939876,0.334675,-0.068015]
2025-09-04T18:42:15.899Z,1757011335.899 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:15.899Z,1757011335.899 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:15.902Z,1757011335.902 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:15.902Z,1757011335.902 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:19.148Z,1757011339.148 [DAT](INFO): DAT read: Rx Time:18:42:17.6749

2025-09-04T18:42:19.149Z,1757011339.149 [DAT](INFO): Rx dataTimestamp_ set to:1757011339.148503
2025-09-04T18:42:19.660Z,1757011339.660 [DAT](INFO): DAT read: 18:42:17.6749 LVL= 32752, 31729, 32754, 32755, AGC= 66, IDX= 477,-0.05,-2.069,-0.758,-2.628,-1.789, PHS=-0.178, 1.076,-0.883, RAW= 350.8,  -0.2, CAL= 350.4,  -3.2, ROT= 159.6,   3.2

2025-09-04T18:42:19.661Z,1757011339.661 [DAT](INFO): got valid direction response:
 18:42:17.6749 LVL= 32752, 31729, 32754, 32755, AGC= 66, IDX= 477,-0.05,-2.069,-0.758,-2.628,-1.789, PHS=-0.178, 1.076,-0.883, RAW= 350.8,  -0.2, CAL= 350.4,  -3.2, ROT= 159.6,   3.2

2025-09-04T18:42:19.663Z,1757011339.663 [DAT](INFO): DAT read: Bearing 234.6,  54.3 (Local)

2025-09-04T18:42:19.663Z,1757011339.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.6,  54.3 (Local)

2025-09-04T18:42:19.666Z,1757011339.666 [DAT](INFO): DAT read: Range 11 to 50 : 71.5 m  (Round-trip  95.4 ms) speed -0.9 m/s

2025-09-04T18:42:19.667Z,1757011339.667 [DAT](INFO): DAT read: user:2988>

2025-09-04T18:42:19.667Z,1757011339.667 [DAT](INFO): DAT read: Tx time:18:42:18.7753

2025-09-04T18:42:19.668Z,1757011339.668 [DAT](INFO): Ping request sent.
2025-09-04T18:42:19.668Z,1757011339.668 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:19.668Z,1757011339.668 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-04T18:42:19.669Z,1757011339.669 [DAT](INFO): direction in FSK: [-0.935821,0.348028,-0.055822]
2025-09-04T18:42:19.669Z,1757011339.669 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:19.670Z,1757011339.670 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:19.673Z,1757011339.673 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:19.673Z,1757011339.673 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:22.673Z,1757011342.673 [DAT](INFO): DAT read: Rx Time:18:42:21.2792

2025-09-04T18:42:22.674Z,1757011342.674 [DAT](INFO): Rx dataTimestamp_ set to:1757011342.673245
2025-09-04T18:42:23.183Z,1757011343.183 [DAT](INFO): DAT read: 18:42:21.2792 LVL= 31520, 23537, 32754, 32755, AGC= 64, IDX= 473, 0.41,-0.922, 0.407,-1.524,-0.630, PHS=-0.190, 1.082,-0.938, RAW= 351.5,   0.5, CAL= 351.1,  -2.5, ROT= 158.9,   2.5

2025-09-04T18:42:23.184Z,1757011343.184 [DAT](INFO): got valid direction response:
 18:42:21.2792 LVL= 31520, 23537, 32754, 32755, AGC= 64, IDX= 473, 0.41,-0.922, 0.407,-1.524,-0.630, PHS=-0.190, 1.082,-0.938, RAW= 351.5,   0.5, CAL= 351.1,  -2.5, ROT= 158.9,   2.5

2025-09-04T18:42:23.185Z,1757011343.185 [DAT](INFO): DAT read: Bearing 236.7,  54.2 (Local)

2025-09-04T18:42:23.185Z,1757011343.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.7,  54.2 (Local)

2025-09-04T18:42:23.187Z,1757011343.187 [DAT](INFO): DAT read: Range 11 to 50 : 74.8 m  (Round-trip  99.8 ms) speed -0.8 m/s

2025-09-04T18:42:23.187Z,1757011343.187 [DAT](INFO): DAT read: user:2989>

2025-09-04T18:42:23.192Z,1757011343.192 [DAT](INFO): DAT read: Tx time:18:42:22.3753

2025-09-04T18:42:23.193Z,1757011343.193 [DAT](INFO): Ping request sent.
2025-09-04T18:42:23.193Z,1757011343.193 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:23.193Z,1757011343.193 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-09-04T18:42:23.194Z,1757011343.194 [DAT](INFO): direction in FSK: [-0.932066,0.359654,-0.043619]
2025-09-04T18:42:23.194Z,1757011343.194 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:23.195Z,1757011343.195 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:23.198Z,1757011343.198 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:23.198Z,1757011343.198 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:26.201Z,1757011346.201 [DAT](INFO): DAT read: Rx Time:18:42:24.8833

2025-09-04T18:42:26.201Z,1757011346.201 [DAT](INFO): Rx dataTimestamp_ set to:1757011346.201198
2025-09-04T18:42:26.711Z,1757011346.711 [DAT](INFO): DAT read: 18:42:24.8833 LVL= 29728, 20833, 32754, 32755, AGC= 62, IDX= 469,-0.06, 3.066,-1.844, 2.431,-2.907, PHS=-0.208, 1.108,-0.989, RAW= 351.6,   1.0, CAL= 351.2,  -2.0, ROT= 158.8,   2.0

2025-09-04T18:42:26.712Z,1757011346.712 [DAT](INFO): got valid direction response:
 18:42:24.8833 LVL= 29728, 20833, 32754, 32755, AGC= 62, IDX= 469,-0.06, 3.066,-1.844, 2.431,-2.907, PHS=-0.208, 1.108,-0.989, RAW= 351.6,   1.0, CAL= 351.2,  -2.0, ROT= 158.8,   2.0

2025-09-04T18:42:26.713Z,1757011346.713 [DAT](INFO): DAT read: Bearing 240.4,  52.6 (Local)

2025-09-04T18:42:26.713Z,1757011346.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.4,  52.6 (Local)

2025-09-04T18:42:26.715Z,1757011346.715 [DAT](INFO): DAT read: Range 11 to 50 : 78.0 m  (Round-trip  104.0 ms) speed -0.8 m/s

2025-09-04T18:42:26.715Z,1757011346.715 [DAT](INFO): DAT read: user:2990>

2025-09-04T18:42:26.716Z,1757011346.716 [DAT](INFO): DAT read: Tx time:18:42:25.9752

2025-09-04T18:42:26.716Z,1757011346.716 [DAT](INFO): Ping request sent.
2025-09-04T18:42:26.716Z,1757011346.716 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:26.717Z,1757011346.717 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-09-04T18:42:26.718Z,1757011346.718 [DAT](INFO): direction in FSK: [-0.931756,0.361404,-0.034899]
2025-09-04T18:42:26.718Z,1757011346.718 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:26.718Z,1757011346.718 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:26.721Z,1757011346.721 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:26.722Z,1757011346.722 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:29.731Z,1757011349.731 [DAT](INFO): DAT read: Rx Time:18:42:28.4875

2025-09-04T18:42:29.731Z,1757011349.731 [DAT](INFO): Rx dataTimestamp_ set to:1757011349.730733
2025-09-04T18:42:30.491Z,1757011350.491 [DAT](INFO): DAT read: 18:42:28.4875 LVL= 32752, 24145, 32754, 32755, AGC= 67, IDX= 463, 0.38,-3.122,-1.743, 2.487,-2.786, PHS=-0.234, 1.088,-1.054, RAW= 352.3,   2.2, CAL= 351.9,  -0.8, ROT= 158.1,   0.8

2025-09-04T18:42:30.508Z,1757011350.508 [DAT](INFO): got valid direction response:
 18:42:28.4875 LVL= 32752, 24145, 32754, 32755, AGC= 67, IDX= 463, 0.38,-3.122,-1.743, 2.487,-2.786, PHS=-0.234, 1.088,-1.054, RAW= 352.3,   2.2, CAL= 351.9,  -0.8, ROT= 158.1,   0.8

2025-09-04T18:42:30.509Z,1757011350.509 [DAT](INFO): DAT read: Bearing 241.0,  52.8 (Local)

2025-09-04T18:42:30.510Z,1757011350.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.0,  52.8 (Local)

2025-09-04T18:42:30.511Z,1757011350.511 [DAT](INFO): DAT read: Range 11 to 50 : 81.0 m  (Round-trip  108.1 ms) speed -0.8 m/s

2025-09-04T18:42:30.512Z,1757011350.512 [DAT](INFO): DAT read: user:2991>

2025-09-04T18:42:30.513Z,1757011350.513 [DAT](INFO): DAT read: Tx time:18:42:29.5752

2025-09-04T18:42:30.513Z,1757011350.513 [DAT](INFO): Ping request sent.
2025-09-04T18:42:30.513Z,1757011350.513 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:30.513Z,1757011350.513 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-09-04T18:42:30.514Z,1757011350.514 [DAT](INFO): direction in FSK: [-0.927746,0.372951,-0.013962]
2025-09-04T18:42:30.514Z,1757011350.514 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:30.515Z,1757011350.515 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:30.527Z,1757011350.527 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:30.527Z,1757011350.527 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:33.526Z,1757011353.526 [DAT](INFO): DAT read: Rx Time:18:42:32.0915

2025-09-04T18:42:33.526Z,1757011353.526 [DAT](INFO): Rx dataTimestamp_ set to:1757011353.526040
2025-09-04T18:42:33.813Z,1757011353.813 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:42:34.035Z,1757011354.035 [DAT](INFO): DAT read: 18:42:32.0915 LVL= 26736, 22257, 32754, 32755, AGC= 65, IDX= 472, 0.08, 0.616, 1.955,-0.102, 0.940, PHS=-0.222, 1.060,-1.086, RAW= 353.6,   2.7, CAL= 353.2,  -0.3, ROT= 156.8,   0.3

2025-09-04T18:42:34.036Z,1757011354.036 [DAT](INFO): got valid direction response:
 18:42:32.0915 LVL= 26736, 22257, 32754, 32755, AGC= 65, IDX= 472, 0.08, 0.616, 1.955,-0.102, 0.940, PHS=-0.222, 1.060,-1.086, RAW= 353.6,   2.7, CAL= 353.2,  -0.3, ROT= 156.8,   0.3

2025-09-04T18:42:34.037Z,1757011354.037 [DAT](INFO): DAT read: Bearing 245.6,  53.7 (Local)

2025-09-04T18:42:34.037Z,1757011354.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.6,  53.7 (Local)

2025-09-04T18:42:34.039Z,1757011354.039 [DAT](INFO): DAT read: Range 11 to 50 : 84.0 m  (Round-trip  112.1 ms) speed -0.8 m/s

2025-09-04T18:42:34.039Z,1757011354.039 [DAT](INFO): DAT read: user:2992>

2025-09-04T18:42:34.040Z,1757011354.040 [DAT](INFO): DAT read: Tx time:18:42:33.2252

2025-09-04T18:42:34.040Z,1757011354.040 [DAT](INFO): Ping request sent.
2025-09-04T18:42:34.040Z,1757011354.040 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:34.041Z,1757011354.041 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-09-04T18:42:34.042Z,1757011354.042 [DAT](INFO): direction in FSK: [-0.919123,0.393937,-0.005236]
2025-09-04T18:42:34.042Z,1757011354.042 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:34.042Z,1757011354.042 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:34.073Z,1757011354.073 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:34.074Z,1757011354.074 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:34.816Z,1757011354.816 [DataOverHttps](INFO): Radio surface powered ON.
2025-09-04T18:42:34.817Z,1757011354.817 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:42:37.065Z,1757011357.065 [DAT](INFO): DAT read: Rx Time:18:42:35.7456

2025-09-04T18:42:37.066Z,1757011357.066 [DAT](INFO): Rx dataTimestamp_ set to:1757011357.065465
2025-09-04T18:42:37.581Z,1757011357.581 [DAT](INFO): DAT read: 18:42:35.7456 LVL= 27376, 28657, 32754, 32755, AGC= 62, IDX= 466,-0.39,-1.627,-0.354,-2.428,-1.306, PHS=-0.219, 0.997,-1.166, RAW= 355.9,   4.2, CAL= 355.6,   1.9, ROT= 154.4,  -1.9

2025-09-04T18:42:37.582Z,1757011357.582 [DAT](INFO): got valid direction response:
 18:42:35.7456 LVL= 27376, 28657, 32754, 32755, AGC= 62, IDX= 466,-0.39,-1.627,-0.354,-2.428,-1.306, PHS=-0.219, 0.997,-1.166, RAW= 355.9,   4.2, CAL= 355.6,   1.9, ROT= 154.4,  -1.9

2025-09-04T18:42:37.583Z,1757011357.583 [DAT](INFO): DAT read: Bearing 244.9,  54.9 (Local)

2025-09-04T18:42:37.583Z,1757011357.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.9,  54.9 (Local)

2025-09-04T18:42:37.585Z,1757011357.585 [DAT](INFO): DAT read: Range 11 to 50 : 87.1 m  (Round-trip  116.2 ms) speed -0.6 m/s

2025-09-04T18:42:37.586Z,1757011357.586 [DAT](INFO): DAT read: user:2993>

2025-09-04T18:42:37.586Z,1757011357.586 [DAT](INFO): DAT read: Tx time:18:42:36.8752

2025-09-04T18:42:37.587Z,1757011357.587 [DAT](INFO): Ping request sent.
2025-09-04T18:42:37.587Z,1757011357.587 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:37.587Z,1757011357.587 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-09-04T18:42:37.588Z,1757011357.588 [DAT](INFO): direction in FSK: [-0.901337,0.431848,0.033155]
2025-09-04T18:42:37.588Z,1757011357.588 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:37.589Z,1757011357.589 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:37.592Z,1757011357.592 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:37.597Z,1757011357.597 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:40.853Z,1757011360.853 [DAT](INFO): DAT read: Rx Time:18:42:39.3991

2025-09-04T18:42:40.854Z,1757011360.854 [DAT](INFO): Rx dataTimestamp_ set to:1757011360.853231
2025-09-04T18:42:41.391Z,1757011361.391 [DAT](INFO): DAT read: 18:42:39.3991 LVL= 29936, 28273, 32754, 31539, AGC= 62, IDX= 455, 0.33, 1.420, 2.609, 0.551, 1.769, PHS=-0.247, 0.885,-1.262, RAW= 358.2,   6.8, CAL= 358.2,   6.0, ROT= 151.8,  -6.0

2025-09-04T18:42:41.397Z,1757011361.397 [DAT](INFO): got valid direction response:
 18:42:39.3991 LVL= 29936, 28273, 32754, 31539, AGC= 62, IDX= 455, 0.33, 1.420, 2.609, 0.551, 1.769, PHS=-0.247, 0.885,-1.262, RAW= 358.2,   6.8, CAL= 358.2,   6.0, ROT= 151.8,  -6.0

2025-09-04T18:42:41.398Z,1757011361.398 [DAT](INFO): DAT read: Bearing 243.3,  55.2 (Local)

2025-09-04T18:42:41.398Z,1757011361.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.3,  55.2 (Local)

2025-09-04T18:42:41.399Z,1757011361.399 [DAT](INFO): DAT read: Range 11 to 50 : 89.8 m  (Round-trip  119.8 ms) speed -0.7 m/s

2025-09-04T18:42:41.404Z,1757011361.404 [DAT](INFO): DAT read: user:2994>

2025-09-04T18:42:41.405Z,1757011361.405 [DAT](INFO): DAT read: Tx time:18:42:40.5251

2025-09-04T18:42:41.405Z,1757011361.405 [DAT](INFO): Ping request sent.
2025-09-04T18:42:41.405Z,1757011361.405 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:41.406Z,1757011361.406 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-09-04T18:42:41.407Z,1757011361.407 [DAT](INFO): direction in FSK: [-0.876476,0.469962,0.104528]
2025-09-04T18:42:41.407Z,1757011361.407 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:41.407Z,1757011361.407 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:41.414Z,1757011361.414 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:41.415Z,1757011361.415 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:44.385Z,1757011364.385 [DAT](INFO): DAT read: Rx Time:18:42:43.0529

2025-09-04T18:42:44.386Z,1757011364.386 [DAT](INFO): Rx dataTimestamp_ set to:1757011364.385555
2025-09-04T18:42:44.895Z,1757011364.895 [DAT](INFO): DAT read: 18:42:43.0529 LVL= 28384, 30657, 32754, 32755, AGC= 64, IDX= 462, 0.11,-1.792,-0.701,-2.686,-1.456, PHS=-0.234, 0.799,-1.274, RAW=   0.1,   7.9, CAL=   0.2,   7.9, ROT= 149.8,  -7.9

2025-09-04T18:42:44.896Z,1757011364.896 [DAT](INFO): got valid direction response:
 18:42:43.0529 LVL= 28384, 30657, 32754, 32755, AGC= 64, IDX= 462, 0.11,-1.792,-0.701,-2.686,-1.456, PHS=-0.234, 0.799,-1.274, RAW=   0.1,   7.9, CAL=   0.2,   7.9, ROT= 149.8,  -7.9

2025-09-04T18:42:44.897Z,1757011364.897 [DAT](INFO): DAT read: Bearing 243.7,  56.4 (Local)

2025-09-04T18:42:44.897Z,1757011364.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.7,  56.4 (Local)

2025-09-04T18:42:44.899Z,1757011364.899 [DAT](INFO): DAT read: Range 11 to 50 : 92.7 m  (Round-trip  123.6 ms) speed -0.7 m/s

2025-09-04T18:42:44.899Z,1757011364.899 [DAT](INFO): DAT read: user:2995>

2025-09-04T18:42:44.900Z,1757011364.900 [DAT](INFO): DAT read: Tx time:18:42:44.1751

2025-09-04T18:42:44.900Z,1757011364.900 [DAT](INFO): Ping request sent.
2025-09-04T18:42:44.900Z,1757011364.900 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:44.901Z,1757011364.901 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-09-04T18:42:44.902Z,1757011364.902 [DAT](INFO): direction in FSK: [-0.856072,0.498246,0.137445]
2025-09-04T18:42:44.902Z,1757011364.902 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:44.902Z,1757011364.902 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:44.905Z,1757011364.905 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:44.906Z,1757011364.906 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:48.165Z,1757011368.165 [DAT](INFO): DAT read: Rx Time:18:42:46.7064

2025-09-04T18:42:48.166Z,1757011368.166 [DAT](INFO): Rx dataTimestamp_ set to:1757011368.165460
2025-09-04T18:42:48.677Z,1757011368.677 [DAT](INFO): DAT read: 18:42:46.7064 LVL= 29424, 26097, 32706, 31731, AGC= 63, IDX= 466,-0.13,-1.819,-0.789,-2.768,-1.487, PHS=-0.229, 0.743,-1.325, RAW=   2.0,   9.1, CAL=   2.1,   9.7, ROT= 147.9,  -9.7

2025-09-04T18:42:48.678Z,1757011368.678 [DAT](INFO): got valid direction response:
 18:42:46.7064 LVL= 29424, 26097, 32706, 31731, AGC= 63, IDX= 466,-0.13,-1.819,-0.789,-2.768,-1.487, PHS=-0.229, 0.743,-1.325, RAW=   2.0,   9.1, CAL=   2.1,   9.7, ROT= 147.9,  -9.7

2025-09-04T18:42:48.679Z,1757011368.679 [DAT](INFO): DAT read: Bearing 245.4,  57.7 (Local)

2025-09-04T18:42:48.679Z,1757011368.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4,  57.7 (Local)

2025-09-04T18:42:48.681Z,1757011368.681 [DAT](INFO): DAT read: Range 11 to 50 : 95.3 m  (Round-trip  127.1 ms) speed -0.6 m/s

2025-09-04T18:42:48.682Z,1757011368.682 [DAT](INFO): DAT read: user:2996>

2025-09-04T18:42:48.683Z,1757011368.683 [DAT](INFO): DAT read: Tx time:18:42:47.8251

2025-09-04T18:42:48.700Z,1757011368.700 [DAT](INFO): Ping request sent.
2025-09-04T18:42:48.700Z,1757011368.700 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:48.700Z,1757011368.700 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-09-04T18:42:48.701Z,1757011368.701 [DAT](INFO): direction in FSK: [-0.835011,0.523802,0.168489]
2025-09-04T18:42:48.702Z,1757011368.702 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:48.702Z,1757011368.702 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:48.709Z,1757011368.709 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:48.709Z,1757011368.709 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:51.693Z,1757011371.693 [DAT](INFO): DAT read: Rx Time:18:42:50.3597

2025-09-04T18:42:51.693Z,1757011371.693 [DAT](INFO): Rx dataTimestamp_ set to:1757011371.693123
2025-09-04T18:42:52.202Z,1757011372.202 [DAT](INFO): DAT read: 18:42:50.3597 LVL= 28880, 27681, 32754, 32755, AGC= 62, IDX= 452,-0.15,-1.780,-0.772,-2.777,-1.425, PHS=-0.253, 0.698,-1.396, RAW=   3.0,  10.5, CAL=   3.2,  11.8, ROT= 146.8, -11.8

2025-09-04T18:42:52.204Z,1757011372.204 [DAT](INFO): got valid direction response:
 18:42:50.3597 LVL= 28880, 27681, 32754, 32755, AGC= 62, IDX= 452,-0.15,-1.780,-0.772,-2.777,-1.425, PHS=-0.253, 0.698,-1.396, RAW=   3.0,  10.5, CAL=   3.2,  11.8, ROT= 146.8, -11.8

2025-09-04T18:42:52.205Z,1757011372.205 [DAT](INFO): DAT read: Bearing 241.9,  58.1 (Local)

2025-09-04T18:42:52.205Z,1757011372.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.9,  58.1 (Local)

2025-09-04T18:42:52.207Z,1757011372.207 [DAT](INFO): DAT read: Range 11 to 50 : 97.8 m  (Round-trip  130.4 ms) speed -0.5 m/s

2025-09-04T18:42:52.207Z,1757011372.207 [DAT](INFO): DAT read: user:2997>

2025-09-04T18:42:52.209Z,1757011372.209 [DAT](INFO): DAT read: Tx time:18:42:51.4751

2025-09-04T18:42:52.209Z,1757011372.209 [DAT](INFO): Ping request sent.
2025-09-04T18:42:52.210Z,1757011372.210 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:52.210Z,1757011372.210 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-09-04T18:42:52.211Z,1757011372.211 [DAT](INFO): direction in FSK: [-0.819081,0.535992,0.204496]
2025-09-04T18:42:52.211Z,1757011372.211 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:52.211Z,1757011372.211 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:52.214Z,1757011372.214 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:52.215Z,1757011372.215 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:55.473Z,1757011375.473 [DAT](INFO): DAT read: Rx Time:18:42:54.0127

2025-09-04T18:42:55.473Z,1757011375.473 [DAT](INFO): Rx dataTimestamp_ set to:1757011375.473200
2025-09-04T18:42:55.983Z,1757011375.983 [DAT](INFO): DAT read: 18:42:54.0127 LVL= 30816, 27729, 32754, 32755, AGC= 59, IDX= 452, 0.12,-0.173, 0.756,-1.260, 0.124, PHS=-0.194, 0.677,-1.427, RAW=   5.7,  10.3, CAL=   5.7,  11.6, ROT= 144.3, -11.6

2025-09-04T18:42:55.984Z,1757011375.984 [DAT](INFO): got valid direction response:
 18:42:54.0127 LVL= 30816, 27729, 32754, 32755, AGC= 59, IDX= 452, 0.12,-0.173, 0.756,-1.260, 0.124, PHS=-0.194, 0.677,-1.427, RAW=   5.7,  10.3, CAL=   5.7,  11.6, ROT= 144.3, -11.6

2025-09-04T18:42:55.985Z,1757011375.985 [DAT](INFO): DAT read: Bearing 244.5,  61.4 (Local)

2025-09-04T18:42:55.985Z,1757011375.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.5,  61.4 (Local)

2025-09-04T18:42:55.987Z,1757011375.987 [DAT](INFO): DAT read: Range 11 to 50 : 100.1 m  (Round-trip  133.5 ms) speed -0.5 m/s

2025-09-04T18:42:55.987Z,1757011375.987 [DAT](INFO): DAT read: user:2998>

2025-09-04T18:42:56.002Z,1757011376.002 [DAT](INFO): DAT read: Tx time:18:42:55.1250

2025-09-04T18:42:56.002Z,1757011376.002 [DAT](INFO): Ping request sent.
2025-09-04T18:42:56.003Z,1757011376.003 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:56.003Z,1757011376.003 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-09-04T18:42:56.013Z,1757011376.013 [DAT](INFO): direction in FSK: [-0.795497,0.571623,0.201078]
2025-09-04T18:42:56.013Z,1757011376.013 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:56.013Z,1757011376.013 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:56.016Z,1757011376.016 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:56.017Z,1757011376.017 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:59.001Z,1757011379.001 [DAT](INFO): DAT read: Rx Time:18:42:57.6659

2025-09-04T18:42:59.002Z,1757011379.002 [DAT](INFO): Rx dataTimestamp_ set to:1757011379.001232
2025-09-04T18:42:59.511Z,1757011379.511 [DAT](INFO): DAT read: 18:42:57.6659 LVL= 28128, 26257, 32754, 32755, AGC= 64, IDX= 453,-0.41,-2.830,-1.896, 2.354,-2.479, PHS=-0.248, 0.628,-1.494, RAW=   5.7,  12.0, CAL=   5.8,  14.1, ROT= 144.2, -14.1

2025-09-04T18:42:59.512Z,1757011379.512 [DAT](INFO): got valid direction response:
 18:42:57.6659 LVL= 28128, 26257, 32754, 32755, AGC= 64, IDX= 453,-0.41,-2.830,-1.896, 2.354,-2.479, PHS=-0.248, 0.628,-1.494, RAW=   5.7,  12.0, CAL=   5.8,  14.1, ROT= 144.2, -14.1

2025-09-04T18:42:59.513Z,1757011379.513 [DAT](INFO): DAT read: Bearing 242.0,  60.1 (Local)

2025-09-04T18:42:59.513Z,1757011379.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.0,  60.1 (Local)

2025-09-04T18:42:59.515Z,1757011379.515 [DAT](INFO): DAT read: Range 11 to 50 : 102.5 m  (Round-trip  136.7 ms) speed -0.7 m/s

2025-09-04T18:42:59.515Z,1757011379.515 [DAT](INFO): DAT read: user:2999>

2025-09-04T18:42:59.516Z,1757011379.516 [DAT](INFO): DAT read: Tx time:18:42:58.7750

2025-09-04T18:42:59.517Z,1757011379.517 [DAT](INFO): Ping request sent.
2025-09-04T18:42:59.517Z,1757011379.517 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:42:59.517Z,1757011379.517 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-09-04T18:42:59.518Z,1757011379.518 [DAT](INFO): direction in FSK: [-0.786628,0.567334,0.243615]
2025-09-04T18:42:59.518Z,1757011379.518 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:59.518Z,1757011379.518 [DAT](INFO): publishing direction and range info
2025-09-04T18:42:59.522Z,1757011379.522 [DAT](INFO): publishing transmit ping time
2025-09-04T18:42:59.522Z,1757011379.522 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:02.782Z,1757011382.782 [DAT](INFO): DAT read: Rx Time:18:43:01.3189

2025-09-04T18:43:02.783Z,1757011382.783 [DAT](INFO): Rx dataTimestamp_ set to:1757011382.782518
2025-09-04T18:43:03.295Z,1757011383.295 [DAT](INFO): DAT read: 18:43:01.3189 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 451, 0.32, 2.526,-2.953, 1.379, 2.782, PHS=-0.154, 0.593,-1.447, RAW=   8.8,  11.3, CAL=   8.7,  13.0, ROT= 141.3, -13.0

2025-09-04T18:43:03.296Z,1757011383.296 [DAT](INFO): got valid direction response:
 18:43:01.3189 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 451, 0.32, 2.526,-2.953, 1.379, 2.782, PHS=-0.154, 0.593,-1.447, RAW=   8.8,  11.3, CAL=   8.7,  13.0, ROT= 141.3, -13.0

2025-09-04T18:43:03.298Z,1757011383.298 [DAT](INFO): DAT read: Bearing 246.7,  64.1 (Local)

2025-09-04T18:43:03.298Z,1757011383.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.7,  64.1 (Local)

2025-09-04T18:43:03.329Z,1757011383.329 [DAT](INFO): DAT read: Range 11 to 50 : 104.7 m  (Round-trip  139.7 ms) speed -0.4 m/s

2025-09-04T18:43:03.331Z,1757011383.331 [DAT](INFO): DAT read: user:3000>

2025-09-04T18:43:03.343Z,1757011383.343 [DAT](INFO): DAT read: Tx time:18:43:02.4250

2025-09-04T18:43:03.344Z,1757011383.344 [DAT](INFO): Ping request sent.
2025-09-04T18:43:03.349Z,1757011383.349 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:03.350Z,1757011383.350 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-09-04T18:43:03.374Z,1757011383.374 [DAT](INFO): direction in FSK: [-0.760428,0.609218,0.224951]
2025-09-04T18:43:03.375Z,1757011383.375 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:03.376Z,1757011383.376 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:03.399Z,1757011383.399 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:03.399Z,1757011383.399 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:04.937Z,1757011384.937 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:43:05.940Z,1757011385.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:43:06.309Z,1757011386.309 [DAT](INFO): DAT read: Rx Time:18:43:04.9718

2025-09-04T18:43:06.309Z,1757011386.309 [DAT](INFO): Rx dataTimestamp_ set to:1757011386.309187
2025-09-04T18:43:06.819Z,1757011386.819 [DAT](INFO): DAT read: 18:43:04.9718 LVL= 27184, 20881, 32754, 32755, AGC= 63, IDX= 450,-0.07,-1.608,-0.822,-2.769,-1.326, PHS=-0.180, 0.548,-1.487, RAW=   9.3,  12.5, CAL=   9.2,  14.7, ROT= 140.8, -14.7

2025-09-04T18:43:06.820Z,1757011386.820 [DAT](INFO): got valid direction response:
 18:43:04.9718 LVL= 27184, 20881, 32754, 32755, AGC= 63, IDX= 450,-0.07,-1.608,-0.822,-2.769,-1.326, PHS=-0.180, 0.548,-1.487, RAW=   9.3,  12.5, CAL=   9.2,  14.7, ROT= 140.8, -14.7

2025-09-04T18:43:06.821Z,1757011386.821 [DAT](INFO): DAT read: Bearing 246.4,  63.6 (Local)

2025-09-04T18:43:06.821Z,1757011386.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.4,  63.6 (Local)

2025-09-04T18:43:06.822Z,1757011386.822 [DAT](INFO): DAT read: Range 11 to 50 : 107.0 m  (Round-trip  142.7 ms) speed -0.6 m/s

2025-09-04T18:43:06.823Z,1757011386.823 [DAT](INFO): DAT read: user:3001>

2025-09-04T18:43:06.856Z,1757011386.856 [DAT](INFO): DAT read: Tx time:18:43:06.0750

2025-09-04T18:43:06.856Z,1757011386.856 [DAT](INFO): Ping request sent.
2025-09-04T18:43:06.857Z,1757011386.857 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:06.857Z,1757011386.857 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-09-04T18:43:06.858Z,1757011386.858 [DAT](INFO): direction in FSK: [-0.749579,0.611341,0.253758]
2025-09-04T18:43:06.858Z,1757011386.858 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:06.859Z,1757011386.859 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:06.883Z,1757011386.883 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:06.883Z,1757011386.883 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:10.089Z,1757011390.089 [DAT](INFO): DAT read: Rx Time:18:43:08.6246

2025-09-04T18:43:10.089Z,1757011390.089 [DAT](INFO): Rx dataTimestamp_ set to:1757011390.089201
2025-09-04T18:43:10.599Z,1757011390.599 [DAT](INFO): DAT read: 18:43:08.6246 LVL= 28896, 25153, 32754, 32755, AGC= 63, IDX= 447,-0.35,-2.992,-2.221, 2.117,-2.692, PHS=-0.198, 0.515,-1.518, RAW=   9.8,  13.4, CAL=   9.6,  16.0, ROT= 140.4, -16.0

2025-09-04T18:43:10.607Z,1757011390.607 [DAT](INFO): got valid direction response:
 18:43:08.6246 LVL= 28896, 25153, 32754, 32755, AGC= 63, IDX= 447,-0.35,-2.992,-2.221, 2.117,-2.692, PHS=-0.198, 0.515,-1.518, RAW=   9.8,  13.4, CAL=   9.6,  16.0, ROT= 140.4, -16.0

2025-09-04T18:43:10.625Z,1757011390.625 [DAT](INFO): DAT read: Bearing 246.6,  62.6 (Local)

2025-09-04T18:43:10.626Z,1757011390.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.6,  62.6 (Local)

2025-09-04T18:43:10.627Z,1757011390.627 [DAT](INFO): DAT read: Range 11 to 50 : 109.1 m  (Round-trip  145.5 ms) speed -0.5 m/s

2025-09-04T18:43:10.628Z,1757011390.628 [DAT](INFO): DAT read: user:3002>

2025-09-04T18:43:10.629Z,1757011390.629 [DAT](INFO): DAT read: Tx time:18:43:09.7250

2025-09-04T18:43:10.629Z,1757011390.629 [DAT](INFO): Ping request sent.
2025-09-04T18:43:10.629Z,1757011390.629 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:10.629Z,1757011390.629 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-09-04T18:43:10.630Z,1757011390.630 [DAT](INFO): direction in FSK: [-0.740665,0.612731,0.275637]
2025-09-04T18:43:10.631Z,1757011390.631 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:10.631Z,1757011390.631 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:10.654Z,1757011390.654 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:10.654Z,1757011390.654 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:13.625Z,1757011393.625 [DAT](INFO): DAT read: Rx Time:18:43:12.2774

2025-09-04T18:43:13.626Z,1757011393.626 [DAT](INFO): Rx dataTimestamp_ set to:1757011393.625262
2025-09-04T18:43:14.135Z,1757011394.135 [DAT](INFO): DAT read: 18:43:12.2774 LVL= 32080, 22961, 32754, 32755, AGC= 65, IDX= 459,-0.31, 2.832,-2.647, 1.642,-3.121, PHS=-0.228, 0.520,-1.563, RAW=   9.3,  13.8, CAL=   9.2,  16.7, ROT= 140.8, -16.7

2025-09-04T18:43:14.136Z,1757011394.136 [DAT](INFO): got valid direction response:
 18:43:12.2774 LVL= 32080, 22961, 32754, 32755, AGC= 65, IDX= 459,-0.31, 2.832,-2.647, 1.642,-3.121, PHS=-0.228, 0.520,-1.563, RAW=   9.3,  13.8, CAL=   9.2,  16.7, ROT= 140.8, -16.7

2025-09-04T18:43:14.137Z,1757011394.137 [DAT](INFO): DAT read: Bearing 245.7,  61.5 (Local)

2025-09-04T18:43:14.137Z,1757011394.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.7,  61.5 (Local)

2025-09-04T18:43:14.139Z,1757011394.139 [DAT](INFO): DAT read: Range 11 to 50 : 111.2 m  (Round-trip  148.3 ms) speed -0.6 m/s

2025-09-04T18:43:14.139Z,1757011394.139 [DAT](INFO): DAT read: user:3003>

2025-09-04T18:43:14.140Z,1757011394.140 [DAT](INFO): DAT read: Tx time:18:43:13.3750

2025-09-04T18:43:14.141Z,1757011394.141 [DAT](INFO): Ping request sent.
2025-09-04T18:43:14.141Z,1757011394.141 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:14.141Z,1757011394.141 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-09-04T18:43:14.142Z,1757011394.142 [DAT](INFO): direction in FSK: [-0.742259,0.605372,0.287361]
2025-09-04T18:43:14.142Z,1757011394.142 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:14.142Z,1757011394.142 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:14.178Z,1757011394.178 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:14.178Z,1757011394.178 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:17.409Z,1757011397.409 [DAT](INFO): DAT read: Rx Time:18:43:15.9302

2025-09-04T18:43:17.410Z,1757011397.410 [DAT](INFO): Rx dataTimestamp_ set to:1757011397.409242
2025-09-04T18:43:17.919Z,1757011397.919 [DAT](INFO): DAT read: 18:43:15.9302 LVL= 31024, 25569, 32754, 32755, AGC= 63, IDX= 457,-0.38, 1.982, 2.738, 0.772, 2.265, PHS=-0.181, 0.518,-1.537, RAW=  10.4,  13.2, CAL=  10.3,  15.7, ROT= 139.7, -15.7

2025-09-04T18:43:17.920Z,1757011397.920 [DAT](INFO): got valid direction response:
 18:43:15.9302 LVL= 31024, 25569, 32754, 32755, AGC= 63, IDX= 457,-0.38, 1.982, 2.738, 0.772, 2.265, PHS=-0.181, 0.518,-1.537, RAW=  10.4,  13.2, CAL=  10.3,  15.7, ROT= 139.7, -15.7

2025-09-04T18:43:17.921Z,1757011397.921 [DAT](INFO): DAT read: Bearing 246.5,  63.3 (Local)

2025-09-04T18:43:17.921Z,1757011397.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.5,  63.3 (Local)

2025-09-04T18:43:17.923Z,1757011397.923 [DAT](INFO): DAT read: Range 11 to 50 : 113.3 m  (Round-trip  151.1 ms) speed -0.4 m/s

2025-09-04T18:43:17.923Z,1757011397.923 [DAT](INFO): DAT read: user:3004>

2025-09-04T18:43:17.924Z,1757011397.924 [DAT](INFO): DAT read: Tx time:18:43:17.0250

2025-09-04T18:43:17.924Z,1757011397.924 [DAT](INFO): Ping request sent.
2025-09-04T18:43:17.925Z,1757011397.925 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:17.925Z,1757011397.925 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-09-04T18:43:17.926Z,1757011397.926 [DAT](INFO): direction in FSK: [-0.734215,0.622659,0.270600]
2025-09-04T18:43:17.926Z,1757011397.926 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:17.926Z,1757011397.926 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:17.930Z,1757011397.930 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:17.930Z,1757011397.930 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:20.937Z,1757011400.937 [DAT](INFO): DAT read: Rx Time:18:43:19.5832

2025-09-04T18:43:20.938Z,1757011400.938 [DAT](INFO): Rx dataTimestamp_ set to:1757011400.937611
2025-09-04T18:43:21.447Z,1757011401.447 [DAT](INFO): DAT read: 18:43:19.5832 LVL= 29584, 32753, 32754, 32755, AGC= 61, IDX= 455,-0.15,-3.067,-2.342, 1.974,-2.795, PHS=-0.171, 0.497,-1.559, RAW=  11.4,  13.5, CAL=  11.2,  16.1, ROT= 138.8, -16.1

2025-09-04T18:43:21.448Z,1757011401.448 [DAT](INFO): got valid direction response:
 18:43:19.5832 LVL= 29584, 32753, 32754, 32755, AGC= 61, IDX= 455,-0.15,-3.067,-2.342, 1.974,-2.795, PHS=-0.171, 0.497,-1.559, RAW=  11.4,  13.5, CAL=  11.2,  16.1, ROT= 138.8, -16.1

2025-09-04T18:43:21.449Z,1757011401.449 [DAT](INFO): DAT read: Bearing 247.0,  64.8 (Local)

2025-09-04T18:43:21.449Z,1757011401.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.0,  64.8 (Local)

2025-09-04T18:43:21.451Z,1757011401.451 [DAT](INFO): DAT read: Range 11 to 50 : 115.5 m  (Round-trip  154.1 ms) speed -0.7 m/s

2025-09-04T18:43:21.451Z,1757011401.451 [DAT](INFO): DAT read: user:3005>

2025-09-04T18:43:21.452Z,1757011401.452 [DAT](INFO): DAT read: Tx time:18:43:20.6749

2025-09-04T18:43:21.453Z,1757011401.453 [DAT](INFO): Ping request sent.
2025-09-04T18:43:21.453Z,1757011401.453 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:21.453Z,1757011401.453 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-09-04T18:43:21.454Z,1757011401.454 [DAT](INFO): direction in FSK: [-0.722905,0.632855,0.277315]
2025-09-04T18:43:21.454Z,1757011401.454 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:21.454Z,1757011401.454 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:21.466Z,1757011401.466 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:21.466Z,1757011401.466 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:23.604Z,1757011403.604 [ThrusterHE](FAULT): Could not get status:serial timeout
2025-09-04T18:43:24.718Z,1757011404.718 [DAT](INFO): DAT read: Rx Time:18:43:23.2360

2025-09-04T18:43:24.719Z,1757011404.719 [DAT](INFO): Rx dataTimestamp_ set to:1757011404.718515
2025-09-04T18:43:25.234Z,1757011405.234 [DAT](INFO): DAT read: 18:43:23.2360 LVL= 30912, 26017, 32754, 32755, AGC= 65, IDX= 453,-0.44,-0.893,-0.245,-2.253,-0.668, PHS=-0.123, 0.468,-1.628, RAW=  14.1,  13.6, CAL=  13.6,  16.1, ROT= 136.4, -16.1

2025-09-04T18:43:25.235Z,1757011405.235 [DAT](INFO): got valid direction response:
 18:43:23.2360 LVL= 30912, 26017, 32754, 32755, AGC= 65, IDX= 453,-0.44,-0.893,-0.245,-2.253,-0.668, PHS=-0.123, 0.468,-1.628, RAW=  14.1,  13.6, CAL=  13.6,  16.1, ROT= 136.4, -16.1

2025-09-04T18:43:25.240Z,1757011405.240 [DAT](INFO): DAT read: Bearing 248.0,  67.5 (Local)

2025-09-04T18:43:25.240Z,1757011405.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.0,  67.5 (Local)

2025-09-04T18:43:25.242Z,1757011405.242 [DAT](INFO): DAT read: Range 11 to 50 : 117.7 m  (Round-trip  157.0 ms) speed -0.7 m/s

2025-09-04T18:43:25.242Z,1757011405.242 [DAT](INFO): DAT read: user:3006>

2025-09-04T18:43:25.243Z,1757011405.243 [DAT](INFO): DAT read: Tx time:18:43:24.3249

2025-09-04T18:43:25.243Z,1757011405.243 [DAT](INFO): Ping request sent.
2025-09-04T18:43:25.243Z,1757011405.243 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:25.248Z,1757011405.248 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-09-04T18:43:25.249Z,1757011405.249 [DAT](INFO): direction in FSK: [-0.695769,0.662572,0.277315]
2025-09-04T18:43:25.249Z,1757011405.249 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:25.249Z,1757011405.249 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:25.257Z,1757011405.257 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:25.258Z,1757011405.258 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:28.245Z,1757011408.245 [DAT](INFO): DAT read: Rx Time:18:43:26.8885

2025-09-04T18:43:28.245Z,1757011408.245 [DAT](INFO): Rx dataTimestamp_ set to:1757011408.245178
2025-09-04T18:43:28.756Z,1757011408.756 [DAT](INFO): DAT read: 18:43:26.8885 LVL= 29792, 26913, 32754, 32755, AGC= 64, IDX= 446, 0.33,-0.901,-0.212,-2.220,-0.644, PHS=-0.155, 0.477,-1.620, RAW=  12.9,  13.8, CAL=  12.5,  16.5, ROT= 137.5, -16.5

2025-09-04T18:43:28.757Z,1757011408.757 [DAT](INFO): got valid direction response:
 18:43:26.8885 LVL= 29792, 26913, 32754, 32755, AGC= 64, IDX= 446, 0.33,-0.901,-0.212,-2.220,-0.644, PHS=-0.155, 0.477,-1.620, RAW=  12.9,  13.8, CAL=  12.5,  16.5, ROT= 137.5, -16.5

2025-09-04T18:43:28.758Z,1757011408.758 [DAT](INFO): DAT read: Bearing 245.4,  64.5 (Local)

2025-09-04T18:43:28.758Z,1757011408.758 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4,  64.5 (Local)

2025-09-04T18:43:28.759Z,1757011408.759 [DAT](INFO): DAT read: Range 11 to 50 : 119.6 m  (Round-trip  159.5 ms) speed -0.8 m/s

2025-09-04T18:43:28.760Z,1757011408.760 [DAT](INFO): DAT read: user:3007>

2025-09-04T18:43:28.761Z,1757011408.761 [DAT](INFO): DAT read: Tx time:18:43:27.9749

2025-09-04T18:43:28.761Z,1757011408.761 [DAT](INFO): Ping request sent.
2025-09-04T18:43:28.762Z,1757011408.762 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:28.762Z,1757011408.762 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-09-04T18:43:28.763Z,1757011408.763 [DAT](INFO): direction in FSK: [-0.706916,0.647769,0.284015]
2025-09-04T18:43:28.763Z,1757011408.763 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:28.763Z,1757011408.763 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:28.767Z,1757011408.767 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:28.767Z,1757011408.767 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:32.025Z,1757011412.025 [DAT](INFO): DAT read: Rx Time:18:43:30.5413

2025-09-04T18:43:32.026Z,1757011412.026 [DAT](INFO): Rx dataTimestamp_ set to:1757011412.025479
2025-09-04T18:43:32.535Z,1757011412.535 [DAT](INFO): DAT read: 18:43:30.5413 LVL= 32752, 31313, 32754, 32755, AGC= 65, IDX= 459, 0.27, 1.471, 2.123, 0.140, 1.705, PHS=-0.131, 0.463,-1.608, RAW=  13.8,  13.7, CAL=  13.3,  16.3, ROT= 136.7, -16.3

2025-09-04T18:43:32.536Z,1757011412.536 [DAT](INFO): got valid direction response:
 18:43:30.5413 LVL= 32752, 31313, 32754, 32755, AGC= 65, IDX= 459, 0.27, 1.471, 2.123, 0.140, 1.705, PHS=-0.131, 0.463,-1.608, RAW=  13.8,  13.7, CAL=  13.3,  16.3, ROT= 136.7, -16.3

2025-09-04T18:43:32.537Z,1757011412.537 [DAT](INFO): DAT read: Bearing 245.1,  64.7 (Local)

2025-09-04T18:43:32.538Z,1757011412.538 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.1,  64.7 (Local)

2025-09-04T18:43:32.539Z,1757011412.539 [DAT](INFO): DAT read: Range 11 to 50 : 121.8 m  (Round-trip  162.4 ms) speed -0.6 m/s

2025-09-04T18:43:32.540Z,1757011412.540 [DAT](INFO): DAT read: user:3008>

2025-09-04T18:43:32.541Z,1757011412.541 [DAT](INFO): DAT read: Tx time:18:43:31.6248

2025-09-04T18:43:32.541Z,1757011412.541 [DAT](INFO): Ping request sent.
2025-09-04T18:43:32.541Z,1757011412.541 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:32.542Z,1757011412.542 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-09-04T18:43:32.543Z,1757011412.543 [DAT](INFO): direction in FSK: [-0.698520,0.658252,0.280667]
2025-09-04T18:43:32.543Z,1757011412.543 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:32.543Z,1757011412.543 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:32.546Z,1757011412.546 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:32.546Z,1757011412.546 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:35.553Z,1757011415.553 [DAT](INFO): DAT read: Rx Time:18:43:34.1943

2025-09-04T18:43:35.554Z,1757011415.554 [DAT](INFO): Rx dataTimestamp_ set to:1757011415.553240
2025-09-04T18:43:36.064Z,1757011416.064 [DAT](INFO): DAT read: 18:43:34.1943 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 458, 0.45,-2.013,-1.330, 2.970,-1.752, PHS=-0.159, 0.467,-1.604, RAW=  12.9,  14.0, CAL=  12.5,  16.7, ROT= 137.5, -16.7

2025-09-04T18:43:36.065Z,1757011416.065 [DAT](INFO): got valid direction response:
 18:43:34.1943 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 458, 0.45,-2.013,-1.330, 2.970,-1.752, PHS=-0.159, 0.467,-1.604, RAW=  12.9,  14.0, CAL=  12.5,  16.7, ROT= 137.5, -16.7

2025-09-04T18:43:36.066Z,1757011416.066 [DAT](INFO): DAT read: Bearing 247.2,  65.3 (Local)

2025-09-04T18:43:36.066Z,1757011416.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.2,  65.3 (Local)

2025-09-04T18:43:36.067Z,1757011416.067 [DAT](INFO): DAT read: Range 11 to 50 : 124.0 m  (Round-trip  165.4 ms) speed -0.5 m/s

2025-09-04T18:43:36.068Z,1757011416.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:43:36.069Z,1757011416.069 [DAT](INFO): DAT read: user:3009>

2025-09-04T18:43:36.070Z,1757011416.070 [DAT](INFO): DAT read: Tx time:18:43:35.3248

2025-09-04T18:43:36.070Z,1757011416.070 [DAT](INFO): Ping request sent.
2025-09-04T18:43:36.070Z,1757011416.070 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:36.071Z,1757011416.071 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-09-04T18:43:36.072Z,1757011416.072 [DAT](INFO): direction in FSK: [-0.706181,0.647095,0.287361]
2025-09-04T18:43:36.072Z,1757011416.072 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:36.072Z,1757011416.072 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:36.075Z,1757011416.075 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:36.075Z,1757011416.075 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:37.072Z,1757011417.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:43:39.335Z,1757011419.335 [DAT](INFO): DAT read: Rx Time:18:43:37.8974

2025-09-04T18:43:39.337Z,1757011419.337 [DAT](INFO): Rx dataTimestamp_ set to:1757011419.336064
2025-09-04T18:43:39.843Z,1757011419.843 [DAT](INFO): DAT read: 18:43:37.8974 LVL= 28288, 30609, 32754, 32755, AGC= 65, IDX= 458, 0.32,-1.647,-1.015,-3.047,-1.415, PHS=-0.130, 0.444,-1.676, RAW=  14.8,  14.2, CAL=  14.2,  17.0, ROT= 135.8, -17.0

2025-09-04T18:43:39.844Z,1757011419.844 [DAT](INFO): got valid direction response:
 18:43:37.8974 LVL= 28288, 30609, 32754, 32755, AGC= 65, IDX= 458, 0.32,-1.647,-1.015,-3.047,-1.415, PHS=-0.130, 0.444,-1.676, RAW=  14.8,  14.2, CAL=  14.2,  17.0, ROT= 135.8, -17.0

2025-09-04T18:43:39.845Z,1757011419.845 [DAT](INFO): DAT read: Bearing 245.8,  66.4 (Local)

2025-09-04T18:43:39.845Z,1757011419.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.8,  66.4 (Local)

2025-09-04T18:43:39.847Z,1757011419.847 [DAT](INFO): DAT read: Range 11 to 50 : 126.3 m  (Round-trip  168.5 ms) speed -0.5 m/s

2025-09-04T18:43:39.847Z,1757011419.847 [DAT](INFO): DAT read: user:3010>

2025-09-04T18:43:39.848Z,1757011419.848 [DAT](INFO): DAT read: Tx time:18:43:39.0248

2025-09-04T18:43:39.849Z,1757011419.849 [DAT](INFO): Ping request sent.
2025-09-04T18:43:39.849Z,1757011419.849 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:39.849Z,1757011419.849 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-09-04T18:43:39.850Z,1757011419.850 [DAT](INFO): direction in FSK: [-0.685585,0.666702,0.292372]
2025-09-04T18:43:39.850Z,1757011419.850 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:39.850Z,1757011419.850 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:39.854Z,1757011419.854 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:39.854Z,1757011419.854 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:42.861Z,1757011422.861 [DAT](INFO): DAT read: Rx Time:18:43:41.5999

2025-09-04T18:43:42.862Z,1757011422.862 [DAT](INFO): Rx dataTimestamp_ set to:1757011422.861382
2025-09-04T18:43:43.623Z,1757011423.623 [DAT](INFO): DAT read: 18:43:41.5999 LVL= 26560, 25713, 32754, 28531, AGC= 63, IDX= 452,-0.09, 2.295, 2.583, 0.674, 2.279, PHS= 0.118, 0.349,-1.649, RAW=  23.9,  12.4, CAL=  22.7,  14.0, ROT= 127.3, -14.0

2025-09-04T18:43:43.625Z,1757011423.625 [DAT](INFO): got valid direction response:
 18:43:41.5999 LVL= 26560, 25713, 32754, 28531, AGC= 63, IDX= 452,-0.09, 2.295, 2.583, 0.674, 2.279, PHS= 0.118, 0.349,-1.649, RAW=  23.9,  12.4, CAL=  22.7,  14.0, ROT= 127.3, -14.0

2025-09-04T18:43:43.626Z,1757011423.626 [DAT](INFO): DAT read: Bearing 253.9,  75.0 (Local)

2025-09-04T18:43:43.626Z,1757011423.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.9,  75.0 (Local)

2025-09-04T18:43:43.627Z,1757011423.627 [DAT](INFO): DAT read: Range 11 to 50 : 128.2 m  (Round-trip  171.0 ms) speed -0.5 m/s

2025-09-04T18:43:43.628Z,1757011423.628 [DAT](INFO): DAT read: user:3011>

2025-09-04T18:43:43.629Z,1757011423.629 [DAT](INFO): DAT read: Tx time:18:43:42.7247

2025-09-04T18:43:43.629Z,1757011423.629 [DAT](INFO): Ping request sent.
2025-09-04T18:43:43.629Z,1757011423.629 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:43.630Z,1757011423.630 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-09-04T18:43:43.631Z,1757011423.631 [DAT](INFO): direction in FSK: [-0.587988,0.771845,0.241922]
2025-09-04T18:43:43.631Z,1757011423.631 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:43.631Z,1757011423.631 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:43.669Z,1757011423.669 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:43.669Z,1757011423.669 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:46.641Z,1757011426.641 [DAT](INFO): DAT read: Rx Time:18:43:45.3024

2025-09-04T18:43:46.642Z,1757011426.642 [DAT](INFO): Rx dataTimestamp_ set to:1757011426.641331
2025-09-04T18:43:47.151Z,1757011427.151 [DAT](INFO): DAT read: 18:43:45.3024 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 450, 0.19,-1.073,-1.538,-2.229,-2.219, PHS= 1.248, 0.726,-0.054, RAW=  53.5, -30.9, CAL=  56.3, -30.6, ROT=  93.7,  30.6

2025-09-04T18:43:47.152Z,1757011427.152 [DAT](INFO): got valid direction response:
 18:43:45.3024 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 450, 0.19,-1.073,-1.538,-2.229,-2.219, PHS= 1.248, 0.726,-0.054, RAW=  53.5, -30.9, CAL=  56.3, -30.6, ROT=  93.7,  30.6

2025-09-04T18:43:47.153Z,1757011427.153 [DAT](INFO): DAT read: Bearing  63.4,  57.0 (Local)

2025-09-04T18:43:47.153Z,1757011427.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.4,  57.0 (Local)

2025-09-04T18:43:47.155Z,1757011427.155 [DAT](INFO): DAT read: Range 11 to 50 : 130.2 m  (Round-trip  173.6 ms) speed -0.3 m/s

2025-09-04T18:43:47.156Z,1757011427.156 [DAT](INFO): DAT read: user:3012>

2025-09-04T18:43:47.156Z,1757011427.156 [DAT](INFO): DAT read: Tx time:18:43:46.4247

2025-09-04T18:43:47.157Z,1757011427.157 [DAT](INFO): Ping request sent.
2025-09-04T18:43:47.157Z,1757011427.157 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:47.157Z,1757011427.157 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-09-04T18:43:47.158Z,1757011427.158 [DAT](INFO): direction in FSK: [-0.055546,0.858948,-0.509041]
2025-09-04T18:43:47.158Z,1757011427.158 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:47.158Z,1757011427.158 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:47.162Z,1757011427.162 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:47.162Z,1757011427.162 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:47.705Z,1757011427.705 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-09-04T18:43:47.705Z,1757011427.705 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-09-04T18:43:47.705Z,1757011427.705 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-09-04T18:43:50.433Z,1757011430.433 [DAT](INFO): DAT read: Rx Time:18:43:49.0046

2025-09-04T18:43:50.434Z,1757011430.434 [DAT](INFO): Rx dataTimestamp_ set to:1757011430.433264
2025-09-04T18:43:50.939Z,1757011430.939 [DAT](INFO): DAT read: Range 11 to 50 : 131.8 m  (Round-trip  175.8 ms) speed -0.3 m/s

2025-09-04T18:43:50.940Z,1757011430.940 [DAT](INFO): DAT read: user:3013>

2025-09-04T18:43:50.941Z,1757011430.941 [DAT](INFO): DAT read: Tx time:18:43:50.1247

2025-09-04T18:43:50.941Z,1757011430.941 [DAT](INFO): Ping request sent.
2025-09-04T18:43:50.941Z,1757011430.941 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:50.941Z,1757011430.941 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-09-04T18:43:50.941Z,1757011430.941 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:50.942Z,1757011430.942 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:53.965Z,1757011433.965 [DAT](INFO): DAT read: Rx Time:18:43:52.7063

2025-09-04T18:43:53.965Z,1757011433.965 [DAT](INFO): Rx dataTimestamp_ set to:1757011433.965187
2025-09-04T18:43:54.731Z,1757011434.731 [DAT](INFO): DAT read: 18:43:52.7063 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 440, 0.17, 2.574, 2.142, 0.693, 1.806, PHS= 0.870, 0.381,-1.157, RAW=  43.4,  -1.0, CAL=  44.2,  -2.8, ROT= 105.8,   2.8

2025-09-04T18:43:54.732Z,1757011434.732 [DAT](INFO): got valid direction response:
 18:43:52.7063 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 440, 0.17, 2.574, 2.142, 0.693, 1.806, PHS= 0.870, 0.381,-1.157, RAW=  43.4,  -1.0, CAL=  44.2,  -2.8, ROT= 105.8,   2.8

2025-09-04T18:43:54.733Z,1757011434.733 [DAT](INFO): DAT read: Bearing 321.3,  67.8 (Local)

2025-09-04T18:43:54.733Z,1757011434.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.3,  67.8 (Local)

2025-09-04T18:43:54.735Z,1757011434.735 [DAT](INFO): DAT read: Range 11 to 50 : 133.1 m  (Round-trip  177.5 ms) speed -0.4 m/s

2025-09-04T18:43:54.736Z,1757011434.736 [DAT](INFO): DAT read: user:3014>

2025-09-04T18:43:54.736Z,1757011434.736 [DAT](INFO): DAT read: Tx time:18:43:53.8247

2025-09-04T18:43:54.737Z,1757011434.737 [DAT](INFO): Ping request sent.
2025-09-04T18:43:54.737Z,1757011434.737 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:54.737Z,1757011434.737 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-09-04T18:43:54.738Z,1757011434.738 [DAT](INFO): direction in FSK: [-0.271955,0.961069,-0.048850]
2025-09-04T18:43:54.738Z,1757011434.738 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:54.738Z,1757011434.738 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:54.742Z,1757011434.742 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:54.742Z,1757011434.742 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:57.749Z,1757011437.749 [DAT](INFO): DAT read: Rx Time:18:43:56.4074

2025-09-04T18:43:57.749Z,1757011437.749 [DAT](INFO): Rx dataTimestamp_ set to:1757011437.749197
2025-09-04T18:43:58.259Z,1757011438.259 [DAT](INFO): DAT read: 18:43:56.4074 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 434,-0.27,-2.564,-2.427, 2.692, 3.125, PHS= 0.696, 0.776,-0.477, RAW=  26.7, -16.1, CAL=  28.4, -17.4, ROT= 121.6,  17.4

2025-09-04T18:43:58.261Z,1757011438.261 [DAT](INFO): got valid direction response:
 18:43:56.4074 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 434,-0.27,-2.564,-2.427, 2.692, 3.125, PHS= 0.696, 0.776,-0.477, RAW=  26.7, -16.1, CAL=  28.4, -17.4, ROT= 121.6,  17.4

2025-09-04T18:43:58.262Z,1757011438.262 [DAT](INFO): DAT read: Bearing 341.2,  42.8 (Local)

2025-09-04T18:43:58.262Z,1757011438.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.2,  42.8 (Local)

2025-09-04T18:43:58.265Z,1757011438.265 [DAT](INFO): DAT read: Range 11 to 50 : 134.0 m  (Round-trip  178.7 ms) speed -0.1 m/s

2025-09-04T18:43:58.266Z,1757011438.266 [DAT](INFO): DAT read: user:3015>

2025-09-04T18:43:58.267Z,1757011438.267 [DAT](INFO): DAT read: Tx time:18:43:57.5246

2025-09-04T18:43:58.267Z,1757011438.267 [DAT](INFO): Ping request sent.
2025-09-04T18:43:58.267Z,1757011438.267 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:43:58.272Z,1757011438.272 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-09-04T18:43:58.273Z,1757011438.273 [DAT](INFO): direction in FSK: [-0.500009,0.812752,-0.299041]
2025-09-04T18:43:58.274Z,1757011438.274 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:58.274Z,1757011438.274 [DAT](INFO): publishing direction and range info
2025-09-04T18:43:58.303Z,1757011438.303 [DAT](INFO): publishing transmit ping time
2025-09-04T18:43:58.303Z,1757011438.303 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:01.529Z,1757011441.529 [DAT](INFO): DAT read: Rx Time:18:44:00.1078

2025-09-04T18:44:01.529Z,1757011441.529 [DAT](INFO): Rx dataTimestamp_ set to:1757011441.529185
2025-09-04T18:44:02.039Z,1757011442.039 [DAT](INFO): DAT read: 18:44:00.1078 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424, 0.22,-1.623,-2.101, 2.715,-2.479, PHS= 0.958, 0.423,-1.134, RAW=  44.2,  -2.7, CAL=  45.3,  -4.3, ROT= 104.7,   4.3

2025-09-04T18:44:02.040Z,1757011442.040 [DAT](INFO): got valid direction response:
 18:44:00.1078 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424, 0.22,-1.623,-2.101, 2.715,-2.479, PHS= 0.958, 0.423,-1.134, RAW=  44.2,  -2.7, CAL=  45.3,  -4.3, ROT= 104.7,   4.3

2025-09-04T18:44:02.041Z,1757011442.041 [DAT](INFO): DAT read: Bearing 320.4,  65.2 (Local)

2025-09-04T18:44:02.041Z,1757011442.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.4,  65.2 (Local)

2025-09-04T18:44:02.043Z,1757011442.043 [DAT](INFO): DAT read: Range 11 to 50 : 134.3 m  (Round-trip  179.1 ms) speed -0.3 m/s

2025-09-04T18:44:02.043Z,1757011442.043 [DAT](INFO): DAT read: user:3016>

2025-09-04T18:44:02.044Z,1757011442.044 [DAT](INFO): DAT read: Tx time:18:44:01.2246

2025-09-04T18:44:02.044Z,1757011442.044 [DAT](INFO): Ping request sent.
2025-09-04T18:44:02.044Z,1757011442.044 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:02.045Z,1757011442.045 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-09-04T18:44:02.046Z,1757011442.046 [DAT](INFO): direction in FSK: [-0.253044,0.964545,-0.074979]
2025-09-04T18:44:02.046Z,1757011442.046 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:02.046Z,1757011442.046 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:02.050Z,1757011442.050 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:02.050Z,1757011442.050 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:05.057Z,1757011445.057 [DAT](INFO): DAT read: Rx Time:18:44:03.8086

2025-09-04T18:44:05.058Z,1757011445.058 [DAT](INFO): Rx dataTimestamp_ set to:1757011445.057334
2025-09-04T18:44:05.819Z,1757011445.819 [DAT](INFO): DAT read: 18:44:03.8086 LVL= 22592, 27857, 30866, 32755, AGC= 68, IDX= 434, 0.24, 1.949, 1.772, 0.444, 1.174, PHS= 0.876, 0.643,-0.774, RAW=  37.5,  -9.7, CAL=  39.3, -10.9, ROT= 110.7,  10.9

2025-09-04T18:44:05.820Z,1757011445.820 [DAT](INFO): got valid direction response:
 18:44:03.8086 LVL= 22592, 27857, 30866, 32755, AGC= 68, IDX= 434, 0.24, 1.949, 1.772, 0.444, 1.174, PHS= 0.876, 0.643,-0.774, RAW=  37.5,  -9.7, CAL=  39.3, -10.9, ROT= 110.7,  10.9

2025-09-04T18:44:05.821Z,1757011445.821 [DAT](INFO): DAT read: Bearing 336.9,  58.8 (Local)

2025-09-04T18:44:05.821Z,1757011445.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.9,  58.8 (Local)

2025-09-04T18:44:05.823Z,1757011445.823 [DAT](INFO): DAT read: Range 11 to 50 : 134.9 m  (Round-trip  179.9 ms) speed -0.2 m/s

2025-09-04T18:44:05.823Z,1757011445.823 [DAT](INFO): DAT read: user:3017>

2025-09-04T18:44:05.830Z,1757011445.830 [DAT](INFO): DAT read: Tx time:18:44:04.9246

2025-09-04T18:44:05.831Z,1757011445.831 [DAT](INFO): Ping request sent.
2025-09-04T18:44:05.831Z,1757011445.831 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:05.831Z,1757011445.831 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-09-04T18:44:05.856Z,1757011445.856 [DAT](INFO): direction in FSK: [-0.347098,0.918567,-0.189095]
2025-09-04T18:44:05.857Z,1757011445.857 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:05.857Z,1757011445.857 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:05.868Z,1757011445.868 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:05.868Z,1757011445.868 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:07.192Z,1757011447.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:44:08.196Z,1757011448.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:44:08.854Z,1757011448.854 [DAT](INFO): DAT read: Rx Time:18:44:07.5095

2025-09-04T18:44:08.854Z,1757011448.854 [DAT](INFO): Rx dataTimestamp_ set to:1757011448.854008
2025-09-04T18:44:09.375Z,1757011449.375 [DAT](INFO): DAT read: 18:44:07.5095 LVL= 31600, 32753, 32754, 32755, AGC= 67, IDX= 440, 0.30, 1.016, 0.982,-0.361, 0.298, PHS= 0.819, 0.729,-0.703, RAW=  33.0, -11.4, CAL=  34.7, -12.7, ROT= 115.3,  12.7

2025-09-04T18:44:09.398Z,1757011449.398 [DAT](INFO): got valid direction response:
 18:44:07.5095 LVL= 31600, 32753, 32754, 32755, AGC= 67, IDX= 440, 0.30, 1.016, 0.982,-0.361, 0.298, PHS= 0.819, 0.729,-0.703, RAW=  33.0, -11.4, CAL=  34.7, -12.7, ROT= 115.3,  12.7

2025-09-04T18:44:09.399Z,1757011449.399 [DAT](INFO): DAT read: Bearing 336.8,  51.1 (Local)

2025-09-04T18:44:09.400Z,1757011449.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.8,  51.1 (Local)

2025-09-04T18:44:09.405Z,1757011449.405 [DAT](INFO): DAT read: Range 11 to 50 : 135.6 m  (Round-trip  180.9 ms) speed -0.4 m/s

2025-09-04T18:44:09.406Z,1757011449.406 [DAT](INFO): DAT read: user:3018>

2025-09-04T18:44:09.407Z,1757011449.407 [DAT](INFO): DAT read: Tx time:18:44:08.6245

2025-09-04T18:44:09.407Z,1757011449.407 [DAT](INFO): Ping request sent.
2025-09-04T18:44:09.407Z,1757011449.407 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:09.408Z,1757011449.408 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-09-04T18:44:09.409Z,1757011449.409 [DAT](INFO): direction in FSK: [-0.416902,0.881964,-0.219846]
2025-09-04T18:44:09.409Z,1757011449.409 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:09.410Z,1757011449.410 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:09.413Z,1757011449.413 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:09.413Z,1757011449.413 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:12.633Z,1757011452.633 [DAT](INFO): DAT read: Rx Time:18:44:11.2106

2025-09-04T18:44:12.634Z,1757011452.634 [DAT](INFO): Rx dataTimestamp_ set to:1757011452.633329
2025-09-04T18:44:13.143Z,1757011453.143 [DAT](INFO): DAT read: 18:44:11.2106 LVL= 31712, 32049, 32754, 32755, AGC= 70, IDX= 436,-0.37,-3.124, 2.857, 1.457, 2.543, PHS= 0.718, 0.359,-1.129, RAW=  40.6,   0.6, CAL=  41.2,  -1.0, ROT= 108.8,   1.0

2025-09-04T18:44:13.144Z,1757011453.144 [DAT](INFO): got valid direction response:
 18:44:11.2106 LVL= 31712, 32049, 32754, 32755, AGC= 70, IDX= 436,-0.37,-3.124, 2.857, 1.457, 2.543, PHS= 0.718, 0.359,-1.129, RAW=  40.6,   0.6, CAL=  41.2,  -1.0, ROT= 108.8,   1.0

2025-09-04T18:44:13.145Z,1757011453.145 [DAT](INFO): DAT read: Bearing 325.8,  58.1 (Local)

2025-09-04T18:44:13.145Z,1757011453.145 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.8,  58.1 (Local)

2025-09-04T18:44:13.147Z,1757011453.147 [DAT](INFO): DAT read: Range 11 to 50 : 136.5 m  (Round-trip  182.0 ms) speed  0.1 m/s

2025-09-04T18:44:13.148Z,1757011453.148 [DAT](INFO): DAT read: user:3019>

2025-09-04T18:44:13.148Z,1757011453.148 [DAT](INFO): DAT read: Tx time:18:44:12.3245

2025-09-04T18:44:13.149Z,1757011453.149 [DAT](INFO): Ping request sent.
2025-09-04T18:44:13.149Z,1757011453.149 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:13.149Z,1757011453.149 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-09-04T18:44:13.150Z,1757011453.150 [DAT](INFO): direction in FSK: [-0.322217,0.946505,-0.017452]
2025-09-04T18:44:13.150Z,1757011453.150 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:13.150Z,1757011453.150 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:13.159Z,1757011453.159 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:13.159Z,1757011453.159 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:16.161Z,1757011456.161 [DAT](INFO): DAT read: Rx Time:18:44:14.9113

2025-09-04T18:44:16.162Z,1757011456.162 [DAT](INFO): Rx dataTimestamp_ set to:1757011456.161639
2025-09-04T18:44:16.923Z,1757011456.923 [DAT](INFO): DAT read: 18:44:14.9113 LVL= 29936, 32753, 32754, 32755, AGC= 69, IDX= 439,-0.06,-2.792,-2.840, 2.090, 2.944, PHS= 0.650, 0.544,-0.898, RAW=  33.5,  -4.0, CAL=  34.5,  -5.6, ROT= 115.5,   5.6

2025-09-04T18:44:16.924Z,1757011456.924 [DAT](INFO): got valid direction response:
 18:44:14.9113 LVL= 29936, 32753, 32754, 32755, AGC= 69, IDX= 439,-0.06,-2.792,-2.840, 2.090, 2.944, PHS= 0.650, 0.544,-0.898, RAW=  33.5,  -4.0, CAL=  34.5,  -5.6, ROT= 115.5,   5.6

2025-09-04T18:44:16.925Z,1757011456.925 [DAT](INFO): DAT read: Bearing 340.6,  49.7 (Local)

2025-09-04T18:44:16.925Z,1757011456.925 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.6,  49.7 (Local)

2025-09-04T18:44:16.927Z,1757011456.927 [DAT](INFO): DAT read: Range 11 to 50 : 137.0 m  (Round-trip  182.7 ms) speed -0.4 m/s

2025-09-04T18:44:16.927Z,1757011456.927 [DAT](INFO): DAT read: user:3020>

2025-09-04T18:44:16.928Z,1757011456.928 [DAT](INFO): DAT read: Tx time:18:44:16.0260

2025-09-04T18:44:16.928Z,1757011456.928 [DAT](INFO): Ping request sent.
2025-09-04T18:44:16.928Z,1757011456.928 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:16.929Z,1757011456.929 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-09-04T18:44:16.930Z,1757011456.930 [DAT](INFO): direction in FSK: [-0.428456,0.898278,-0.097583]
2025-09-04T18:44:16.930Z,1757011456.930 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:16.930Z,1757011456.930 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:16.934Z,1757011456.934 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:16.934Z,1757011456.934 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:19.945Z,1757011459.945 [DAT](INFO): DAT read: Rx Time:18:44:18.6136

2025-09-04T18:44:19.946Z,1757011459.946 [DAT](INFO): Rx dataTimestamp_ set to:1757011459.945255
2025-09-04T18:44:20.455Z,1757011460.455 [DAT](INFO): DAT read: 18:44:18.6135 LVL= 32352, 32753, 32754, 32755, AGC= 69, IDX= 433,-0.34, 2.048, 1.941, 0.602, 1.472, PHS= 0.678, 0.514,-0.914, RAW=  35.4,  -3.7, CAL=  36.4,  -5.3, ROT= 113.6,   5.3

2025-09-04T18:44:20.456Z,1757011460.456 [DAT](INFO): got valid direction response:
 18:44:18.6135 LVL= 32352, 32753, 32754, 32755, AGC= 69, IDX= 433,-0.34, 2.048, 1.941, 0.602, 1.472, PHS= 0.678, 0.514,-0.914, RAW=  35.4,  -3.7, CAL=  36.4,  -5.3, ROT= 113.6,   5.3

2025-09-04T18:44:20.485Z,1757011460.485 [DAT](INFO): DAT read: Bearing 333.9,  50.3 (Local)

2025-09-04T18:44:20.486Z,1757011460.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.9,  50.3 (Local)

2025-09-04T18:44:20.487Z,1757011460.487 [DAT](INFO): DAT read: Range 11 to 50 : 137.5 m  (Round-trip  183.4 ms) speed -0.1 m/s

2025-09-04T18:44:20.488Z,1757011460.488 [DAT](INFO): DAT read: user:3021>

2025-09-04T18:44:20.489Z,1757011460.489 [DAT](INFO): DAT read: Tx time:18:44:19.7244

2025-09-04T18:44:20.489Z,1757011460.489 [DAT](INFO): Ping request sent.
2025-09-04T18:44:20.489Z,1757011460.489 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:20.489Z,1757011460.489 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-09-04T18:44:20.490Z,1757011460.490 [DAT](INFO): direction in FSK: [-0.398637,0.912445,-0.092371]
2025-09-04T18:44:20.490Z,1757011460.490 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:20.491Z,1757011460.491 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:20.526Z,1757011460.526 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:20.526Z,1757011460.526 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:23.725Z,1757011463.725 [DAT](INFO): DAT read: Rx Time:18:44:22.3125

2025-09-04T18:44:23.726Z,1757011463.726 [DAT](INFO): Rx dataTimestamp_ set to:1757011463.725234
2025-09-04T18:44:24.235Z,1757011464.235 [DAT](INFO): DAT read: 18:44:22.3125 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424,-0.46, 0.836, 0.608,-0.841, 0.231, PHS= 0.707, 0.422,-1.116, RAW=  38.4,  -0.2, CAL=  39.0,  -1.7, ROT= 111.0,   1.7

2025-09-04T18:44:24.236Z,1757011464.236 [DAT](INFO): got valid direction response:
 18:44:22.3125 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424,-0.46, 0.836, 0.608,-0.841, 0.231, PHS= 0.707, 0.422,-1.116, RAW=  38.4,  -0.2, CAL=  39.0,  -1.7, ROT= 111.0,   1.7

2025-09-04T18:44:24.237Z,1757011464.237 [DAT](INFO): DAT read: Bearing 333.0,  57.0 (Local)

2025-09-04T18:44:24.237Z,1757011464.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.0,  57.0 (Local)

2025-09-04T18:44:24.238Z,1757011464.238 [DAT](INFO): DAT read: Range 11 to 50 : 138.0 m  (Round-trip  184.0 ms) speed -0.4 m/s

2025-09-04T18:44:24.239Z,1757011464.239 [DAT](INFO): DAT read: user:3022>

2025-09-04T18:44:24.268Z,1757011464.268 [DAT](INFO): DAT read: Tx time:18:44:23.4244

2025-09-04T18:44:24.269Z,1757011464.269 [DAT](INFO): Ping request sent.
2025-09-04T18:44:24.269Z,1757011464.269 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:24.269Z,1757011464.269 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-09-04T18:44:24.270Z,1757011464.270 [DAT](INFO): direction in FSK: [-0.358210,0.933170,-0.029666]
2025-09-04T18:44:24.270Z,1757011464.270 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:24.270Z,1757011464.270 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:24.274Z,1757011464.274 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:24.274Z,1757011464.274 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:26.046Z,1757011466.046 [NAL9602](INFO): SBD MO Status=2, MOMSN=1275, MT Status=2, MTMSN=0
2025-09-04T18:44:26.046Z,1757011466.046 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-09-04T18:44:27.253Z,1757011467.253 [DAT](INFO): DAT read: Rx Time:18:44:26.0125

2025-09-04T18:44:27.254Z,1757011467.254 [DAT](INFO): Rx dataTimestamp_ set to:1757011467.253516
2025-09-04T18:44:28.010Z,1757011468.010 [DAT](INFO): DAT read: Range 11 to 50 : 138.0 m  (Round-trip  184.0 ms) speed -0.1 m/s

2025-09-04T18:44:28.011Z,1757011468.011 [DAT](INFO): DAT read: user:3023>

2025-09-04T18:44:28.012Z,1757011468.012 [DAT](INFO): DAT read: Tx time:18:44:27.1244

2025-09-04T18:44:28.012Z,1757011468.012 [DAT](INFO): Ping request sent.
2025-09-04T18:44:28.012Z,1757011468.012 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:28.012Z,1757011468.012 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-09-04T18:44:28.012Z,1757011468.012 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:28.013Z,1757011468.013 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:31.033Z,1757011471.033 [DAT](INFO): DAT read: Rx Time:18:44:29.7131

2025-09-04T18:44:31.034Z,1757011471.034 [DAT](INFO): Rx dataTimestamp_ set to:1757011471.033480
2025-09-04T18:44:31.543Z,1757011471.543 [DAT](INFO): DAT read: 18:44:29.7131 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 430,-0.03,-2.029,-2.088, 3.107,-2.235, PHS= 0.309, 0.192,-0.985, RAW=  34.7,   7.9, CAL=  33.6,   7.8, ROT= 116.4,  -7.8

2025-09-04T18:44:31.544Z,1757011471.544 [DAT](INFO): got valid direction response:
 18:44:29.7131 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 430,-0.03,-2.029,-2.088, 3.107,-2.235, PHS= 0.309, 0.192,-0.985, RAW=  34.7,   7.9, CAL=  33.6,   7.8, ROT= 116.4,  -7.8

2025-09-04T18:44:31.545Z,1757011471.545 [DAT](INFO): DAT read: Bearing 324.0,  54.4 (Local)

2025-09-04T18:44:31.545Z,1757011471.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.0,  54.4 (Local)

2025-09-04T18:44:31.547Z,1757011471.547 [DAT](INFO): DAT read: Range 11 to 50 : 138.4 m  (Round-trip  184.6 ms) speed  0.2 m/s

2025-09-04T18:44:31.547Z,1757011471.547 [DAT](INFO): DAT read: user:3024>

2025-09-04T18:44:31.548Z,1757011471.548 [DAT](INFO): DAT read: Tx time:18:44:30.8259

2025-09-04T18:44:31.548Z,1757011471.548 [DAT](INFO): Ping request sent.
2025-09-04T18:44:31.548Z,1757011471.548 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:31.549Z,1757011471.549 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-09-04T18:44:31.550Z,1757011471.550 [DAT](INFO): direction in FSK: [-0.440521,0.887424,0.135716]
2025-09-04T18:44:31.550Z,1757011471.550 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:31.550Z,1757011471.550 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:31.553Z,1757011471.553 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:31.553Z,1757011471.553 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:34.821Z,1757011474.821 [DAT](INFO): DAT read: Rx Time:18:44:33.4147

2025-09-04T18:44:34.822Z,1757011474.822 [DAT](INFO): Rx dataTimestamp_ set to:1757011474.821291
2025-09-04T18:44:35.327Z,1757011475.327 [DAT](INFO): DAT read: Range 11 to 50 : 138.5 m  (Round-trip  184.7 ms) speed  0.0 m/s

2025-09-04T18:44:35.330Z,1757011475.330 [DAT](INFO): DAT read: user:3025>

2025-09-04T18:44:35.332Z,1757011475.332 [DAT](INFO): DAT read: Tx time:18:44:34.5243

2025-09-04T18:44:35.333Z,1757011475.333 [DAT](INFO): Ping request sent.
2025-09-04T18:44:35.334Z,1757011475.334 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:35.334Z,1757011475.334 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-09-04T18:44:35.335Z,1757011475.335 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:35.337Z,1757011475.337 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:36.548Z,1757011476.548 [NAL9602](INFO): SBD MO Status=0, MOMSN=1275, MT Status=0, MTMSN=0
2025-09-04T18:44:36.548Z,1757011476.548 [NAL9602](INFO): No messages in MT queue
2025-09-04T18:44:37.761Z,1757011477.761 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184437.00,A,3646.77301,N,12151.65473,W,0.875,327.03,040925,,,A*74
2025-09-04T18:44:37.763Z,1757011477.763 [NAL9602](INFO): GPS fix at 20250904T184437: (36.779550, -121.860912)
2025-09-04T18:44:37.777Z,1757011477.777 [UniversalFixResidualReporter](INFO): Fix residual: 2.0 %DT, over the last 793.5 m. Residual distance 16.1 m at bearing 90.4 degrees. Fix at (36.7795, -121.8609) with 395.0 m made good.
2025-09-04T18:44:37.777Z,1757011477.777 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-09-04T18:44:37.778Z,1757011477.778 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-09-04T18:44:38.317Z,1757011478.317 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-04T18:44:38.361Z,1757011478.361 [DAT](INFO): DAT read: Rx Time:18:44:37.1138

2025-09-04T18:44:38.362Z,1757011478.362 [DAT](INFO): Rx dataTimestamp_ set to:1757011478.361369
2025-09-04T18:44:39.118Z,1757011479.118 [DAT](INFO): DAT read: Range 11 to 50 : 139.0 m  (Round-trip  185.4 ms) speed  0.0 m/s

2025-09-04T18:44:39.119Z,1757011479.119 [DAT](INFO): DAT read: user:3026>

2025-09-04T18:44:39.119Z,1757011479.119 [DAT](INFO): DAT read: Tx time:18:44:38.2243

2025-09-04T18:44:39.120Z,1757011479.120 [DAT](INFO): Ping request sent.
2025-09-04T18:44:39.121Z,1757011479.121 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:39.121Z,1757011479.121 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-09-04T18:44:39.121Z,1757011479.121 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:39.122Z,1757011479.122 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:39.320Z,1757011479.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:44:42.141Z,1757011482.141 [DAT](INFO): DAT read: Rx Time:18:44:40.8136

2025-09-04T18:44:42.142Z,1757011482.142 [DAT](INFO): Rx dataTimestamp_ set to:1757011482.141264
2025-09-04T18:44:42.651Z,1757011482.651 [DAT](INFO): DAT read: 18:44:40.8136 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 439,-0.46, 0.486,-0.433,-1.337,-0.456, PHS= 1.044, 0.068,-0.925, RAW=  59.7,  -2.2, CAL=  60.6,  -4.3, ROT=  89.4,   4.3

2025-09-04T18:44:42.652Z,1757011482.652 [DAT](INFO): got valid direction response:
 18:44:40.8136 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 439,-0.46, 0.486,-0.433,-1.337,-0.456, PHS= 1.044, 0.068,-0.925, RAW=  59.7,  -2.2, CAL=  60.6,  -4.3, ROT=  89.4,   4.3

2025-09-04T18:44:42.653Z,1757011482.653 [DAT](INFO): DAT read: Bearing  16.0,  86.4 (Local)

2025-09-04T18:44:42.653Z,1757011482.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.0,  86.4 (Local)

2025-09-04T18:44:42.655Z,1757011482.655 [DAT](INFO): DAT read: Range 11 to 50 : 138.9 m  (Round-trip  185.2 ms) speed -0.6 m/s

2025-09-04T18:44:42.655Z,1757011482.655 [DAT](INFO): DAT read: user:3027>

2025-09-04T18:44:42.657Z,1757011482.657 [DAT](INFO): DAT read: Tx time:18:44:41.9243

2025-09-04T18:44:42.657Z,1757011482.657 [DAT](INFO): Ping request sent.
2025-09-04T18:44:42.657Z,1757011482.657 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:42.657Z,1757011482.657 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-09-04T18:44:42.658Z,1757011482.658 [DAT](INFO): direction in FSK: [0.010442,0.997130,-0.074979]
2025-09-04T18:44:42.658Z,1757011482.658 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:42.659Z,1757011482.659 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:42.662Z,1757011482.662 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:42.662Z,1757011482.662 [DAT](INFO): publishing direction and range info
2025-09-04T18:44:45.925Z,1757011485.925 [DAT](INFO): DAT read: Rx Time:18:44:44.5141

2025-09-04T18:44:45.925Z,1757011485.925 [DAT](INFO): Rx dataTimestamp_ set to:1757011485.925156
2025-09-04T18:44:46.434Z,1757011486.434 [DAT](INFO): DAT read: Range 11 to 50 : 139.3 m  (Round-trip  185.8 ms) speed  0.3 m/s

2025-09-04T18:44:46.434Z,1757011486.434 [DAT](INFO): DAT read: user:3028>

2025-09-04T18:44:46.435Z,1757011486.435 [DAT](INFO): DAT read: Tx time:18:44:45.6242

2025-09-04T18:44:46.435Z,1757011486.435 [DAT](INFO): Ping request sent.
2025-09-04T18:44:46.436Z,1757011486.436 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:46.436Z,1757011486.436 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-09-04T18:44:46.436Z,1757011486.436 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:46.437Z,1757011486.437 [DAT](INFO): publishing transmit ping time
2025-09-04T18:44:47.376Z,1757011487.376 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.011669
2025-09-04T18:44:49.713Z,1757011489.713 [DAT](INFO): DAT read: Rx Time:18:44:48.2137

2025-09-04T18:44:49.714Z,1757011489.714 [DAT](INFO): Rx dataTimestamp_ set to:1757011489.713369
2025-09-04T18:44:49.714Z,1757011489.714 [DAT](INFO): DAT read: $Low SNR acquisition

2025-09-04T18:44:49.715Z,1757011489.715 [DAT](INFO): Received low SNR in chirp
2025-09-04T18:44:54.594Z,1757011494.594 [NAL9602](INFO): SBD MO Status=1, MOMSN=1276, MT Status=0, MTMSN=0
2025-09-04T18:44:54.648Z,1757011494.648 [NAL9602](INFO): Sent 203 bytes from file Logs/20250904T180031/Courier0018.lzma
2025-09-04T18:44:54.648Z,1757011494.648 [NAL9602](INFO): Packets left to send: 0
2025-09-04T18:44:55.078Z,1757011495.078 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20250904T181833/Courier0000.lzma
2025-09-04T18:44:56.034Z,1757011496.034 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Courier0000.lzma.bak
2025-09-04T18:44:56.034Z,1757011496.034 [DataOverHttps](INFO): SBD MOMSN=25929412
2025-09-04T18:44:58.785Z,1757011498.785 [DAT](INFO): DAT read: Response Not Received

2025-09-04T18:44:58.785Z,1757011498.785 [DAT](INFO): response not received
2025-09-04T18:44:58.786Z,1757011498.786 [DAT](INFO): DAT read: user:3030>

2025-09-04T18:44:58.786Z,1757011498.786 [DAT](INFO): DAT read: Tx time:18:44:58.0741

2025-09-04T18:44:58.787Z,1757011498.787 [DAT](INFO): Ping request sent.
2025-09-04T18:44:58.787Z,1757011498.787 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:44:58.787Z,1757011498.787 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:02.062Z,1757011502.062 [DAT](INFO): DAT read: Rx Time:18:45:00.6646

2025-09-04T18:45:02.062Z,1757011502.062 [DAT](INFO): Rx dataTimestamp_ set to:1757011502.061880
2025-09-04T18:45:02.566Z,1757011502.566 [DAT](INFO): DAT read: Range 11 to 50 : 139.8 m  (Round-trip  186.4 ms) speed -0.4 m/s

2025-09-04T18:45:02.567Z,1757011502.567 [DAT](INFO): DAT read: user:3031>

2025-09-04T18:45:02.567Z,1757011502.567 [DAT](INFO): DAT read: Tx time:18:45:01.7741

2025-09-04T18:45:02.568Z,1757011502.568 [DAT](INFO): Ping request sent.
2025-09-04T18:45:02.568Z,1757011502.568 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:45:02.568Z,1757011502.568 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-09-04T18:45:02.569Z,1757011502.569 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:02.569Z,1757011502.569 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:05.589Z,1757011505.589 [DAT](INFO): DAT read: Rx Time:18:45:04.3659

2025-09-04T18:45:05.589Z,1757011505.589 [DAT](INFO): Rx dataTimestamp_ set to:1757011505.589190
2025-09-04T18:45:06.351Z,1757011506.351 [DAT](INFO): DAT read: 18:45:04.3659 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 444, 0.27, 0.163,-0.514,-1.435,-0.600, PHS= 0.865, 0.131,-0.879, RAW=  54.8,  -1.6, CAL=  55.6,  -3.6, ROT=  94.4,   3.6

2025-09-04T18:45:06.352Z,1757011506.352 [DAT](INFO): got valid direction response:
 18:45:04.3659 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 444, 0.27, 0.163,-0.514,-1.435,-0.600, PHS= 0.865, 0.131,-0.879, RAW=  54.8,  -1.6, CAL=  55.6,  -3.6, ROT=  94.4,   3.6

2025-09-04T18:45:06.353Z,1757011506.353 [DAT](INFO): DAT read: Bearing  29.2,  75.6 (Local)

2025-09-04T18:45:06.353Z,1757011506.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.2,  75.6 (Local)

2025-09-04T18:45:06.355Z,1757011506.355 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m  (Round-trip  187.6 ms) speed  0.4 m/s

2025-09-04T18:45:06.356Z,1757011506.356 [DAT](INFO): DAT read: user:3032>

2025-09-04T18:45:06.356Z,1757011506.356 [DAT](INFO): DAT read: Tx time:18:45:05.4741

2025-09-04T18:45:06.357Z,1757011506.357 [DAT](INFO): Ping request sent.
2025-09-04T18:45:06.357Z,1757011506.357 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:45:06.357Z,1757011506.357 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-09-04T18:45:06.358Z,1757011506.358 [DAT](INFO): direction in FSK: [-0.076568,0.995085,-0.062791]
2025-09-04T18:45:06.358Z,1757011506.358 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:06.359Z,1757011506.359 [DAT](INFO): publishing direction and range info
2025-09-04T18:45:06.362Z,1757011506.362 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:06.362Z,1757011506.362 [DAT](INFO): publishing direction and range info
2025-09-04T18:45:09.375Z,1757011509.375 [DAT](INFO): DAT read: Rx Time:18:45:08.0652

2025-09-04T18:45:09.377Z,1757011509.377 [DAT](INFO): Rx dataTimestamp_ set to:1757011509.376141
2025-09-04T18:45:09.887Z,1757011509.887 [DAT](INFO): DAT read: 18:45:08.0652 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 437,-0.35,-2.094,-2.724, 2.806,-3.131, PHS= 1.139, 0.451,-0.391, RAW=  56.7, -17.7, CAL=  60.8, -17.9, ROT=  89.2,  17.9

2025-09-04T18:45:09.889Z,1757011509.889 [DAT](INFO): got valid direction response:
 18:45:08.0652 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 437,-0.35,-2.094,-2.724, 2.806,-3.131, PHS= 1.139, 0.451,-0.391, RAW=  56.7, -17.7, CAL=  60.8, -17.9, ROT=  89.2,  17.9

2025-09-04T18:45:09.890Z,1757011509.890 [DAT](INFO): DAT read: Bearing  68.7,  61.9 (Local)

2025-09-04T18:45:09.890Z,1757011509.890 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.7,  61.9 (Local)

2025-09-04T18:45:09.892Z,1757011509.892 [DAT](INFO): DAT read: Range 11 to 50 : 140.3 m  (Round-trip  187.1 ms) speed -0.1 m/s

2025-09-04T18:45:09.921Z,1757011509.921 [DAT](INFO): DAT read: user:3033>

2025-09-04T18:45:09.922Z,1757011509.922 [DAT](INFO): DAT read: Tx time:18:45:09.1740

2025-09-04T18:45:09.922Z,1757011509.922 [DAT](INFO): Ping request sent.
2025-09-04T18:45:09.922Z,1757011509.922 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:45:09.922Z,1757011509.922 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-09-04T18:45:09.923Z,1757011509.923 [DAT](INFO): direction in FSK: [0.013286,0.951502,-0.307357]
2025-09-04T18:45:09.924Z,1757011509.924 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:09.928Z,1757011509.928 [DAT](INFO): publishing direction and range info
2025-09-04T18:45:09.931Z,1757011509.931 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:09.931Z,1757011509.931 [DAT](INFO): publishing direction and range info
2025-09-04T18:45:13.028Z,1757011513.028 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250904T181833/Courier0003.lzma
2025-09-04T18:45:13.153Z,1757011513.153 [DAT](INFO): DAT read: Rx Time:18:45:11.7654

2025-09-04T18:45:13.154Z,1757011513.154 [DAT](INFO): Rx dataTimestamp_ set to:1757011513.153340
2025-09-04T18:45:13.663Z,1757011513.663 [DAT](INFO): DAT read: 18:45:11.7654 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 427,-0.38, 1.116, 0.532,-0.365, 0.374, PHS= 0.844, 0.203,-0.783, RAW=  53.0,  -3.8, CAL=  54.3,  -5.6, ROT=  95.7,   5.6

2025-09-04T18:45:13.664Z,1757011513.664 [DAT](INFO): got valid direction response:
 18:45:11.7654 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 427,-0.38, 1.116, 0.532,-0.365, 0.374, PHS= 0.844, 0.203,-0.783, RAW=  53.0,  -3.8, CAL=  54.3,  -5.6, ROT=  95.7,   5.6

2025-09-04T18:45:13.670Z,1757011513.670 [DAT](INFO): DAT read: Bearing  27.8,  78.0 (Local)

2025-09-04T18:45:13.671Z,1757011513.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.8,  78.0 (Local)

2025-09-04T18:45:13.681Z,1757011513.681 [DAT](INFO): DAT read: Range 11 to 50 : 140.4 m  (Round-trip  187.3 ms) speed  0.2 m/s

2025-09-04T18:45:13.681Z,1757011513.681 [DAT](INFO): DAT read: user:3034>

2025-09-04T18:45:13.682Z,1757011513.682 [DAT](INFO): DAT read: Tx time:18:45:12.8740

2025-09-04T18:45:13.682Z,1757011513.682 [DAT](INFO): Ping request sent.
2025-09-04T18:45:13.683Z,1757011513.683 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:45:13.683Z,1757011513.683 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-09-04T18:45:13.684Z,1757011513.684 [DAT](INFO): direction in FSK: [-0.098846,0.990307,-0.097583]
2025-09-04T18:45:13.684Z,1757011513.684 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:13.684Z,1757011513.684 [DAT](INFO): publishing direction and range info
2025-09-04T18:45:13.687Z,1757011513.687 [DAT](INFO): publishing transmit ping time
2025-09-04T18:45:13.688Z,1757011513.688 [DAT](INFO): publishing direction and range info
2025-09-04T18:45:14.031Z,1757011514.031 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Courier0003.lzma.bak
2025-09-04T18:45:14.032Z,1757011514.032 [DataOverHttps](INFO): SBD MOMSN=25929415
2025-09-04T18:45:16.681Z,1757011516.681 [DAT](INFO): DAT read: Rx Time:18:45:15.4655

2025-09-04T18:45:16.682Z,1757011516.682 [DAT](INFO): Rx dataTimestamp_ set to:1757011516.681245
2025-09-04T18:45:17.438Z,1757011517.438 [DAT](INFO): DAT read: Range 11 to 50 : 140.5 m  (Round-trip  187.4 ms) speed  0.3 m/s

2025-09-04T18:45:17.439Z,1757011517.439 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-09-04T18:45:25.209Z,1757011525.209 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-04T18:45:31.561Z,1757011531.561 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20250904T181833/Courier0006.lzma
2025-09-04T18:45:32.562Z,1757011532.562 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Courier0006.lzma.bak
2025-09-04T18:45:32.563Z,1757011532.563 [DataOverHttps](INFO): SBD MOMSN=25929418
2025-09-04T18:45:48.789Z,1757011548.789 [DataOverHttps](INFO): Sending 462 bytes from file Logs/20250904T180031/Express0019.lzma
2025-09-04T18:45:49.790Z,1757011549.790 [DataOverHttps](INFO): Moved sent file to Logs/20250904T180031/Express0019.lzma.bak
2025-09-04T18:45:49.790Z,1757011549.790 [DataOverHttps](INFO): SBD MOMSN=25929421
2025-09-04T18:46:08.473Z,1757011568.473 [DataOverHttps](INFO): Sending 588 bytes from file Logs/20250904T181833/Express0001.lzma
2025-09-04T18:46:09.474Z,1757011569.474 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Express0001.lzma.bak
2025-09-04T18:46:09.474Z,1757011569.474 [DataOverHttps](INFO): SBD MOMSN=25929428
2025-09-04T18:46:25.925Z,1757011585.925 [DataOverHttps](INFO): Sending 479 bytes from file Logs/20250904T181833/Express0004.lzma
2025-09-04T18:46:26.926Z,1757011586.926 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Express0004.lzma.bak
2025-09-04T18:46:26.926Z,1757011586.926 [DataOverHttps](INFO): SBD MOMSN=25929431
2025-09-04T18:46:43.154Z,1757011603.154 [DataOverHttps](INFO): Sending 1119 bytes from file Logs/20250904T181833/Express0007.lzma
2025-09-04T18:46:44.154Z,1757011604.154 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Express0007.lzma.bak
2025-09-04T18:46:44.154Z,1757011604.154 [DataOverHttps](INFO): SBD MOMSN=25929436
2025-09-04T18:46:45.645Z,1757011605.645 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-09-04T18:46:45.645Z,1757011605.645 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-09-04T18:46:45.645Z,1757011605.645 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-09-04T18:46:54.052Z,1757011614.052 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:02.672Z,1757011622.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:11.416Z,1757011631.416 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:20.040Z,1757011640.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:28.804Z,1757011648.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:37.644Z,1757011657.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:46.252Z,1757011666.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:47:55.056Z,1757011675.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:03.880Z,1757011683.880 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:12.496Z,1757011692.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:19.463Z,1757011699.463 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude. Device response is::BD,       +19.57,      +294.42,     

2025-09-04T18:48:21.192Z,1757011701.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:29.896Z,1757011709.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:38.572Z,1757011718.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:39.560Z,1757011719.560 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 703.99, 811.74, 732.72
2025-09-04T18:48:47.264Z,1757011727.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:48:56.048Z,1757011736.048 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:49:03.734Z,1757011743.734 [DataOverHttps](IMPORTANT): SBD MTMSN=20250904T184902
2025-09-04T18:49:11.512Z,1757011751.512 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 1u9lj 1 3
2025-09-04T18:49:11.585Z,1757011751.585 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 1u9lj 1 3.000000
2025-09-04T18:49:11.585Z,1757011751.585 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=1u9lj
2025-09-04T18:49:11.586Z,1757011751.586 [CommandExec](IMPORTANT): Scheduled #35 (#1 of 3 with id='1u9lj'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool", ASAP
2025-09-04T18:49:12.514Z,1757011752.514 [DataOverHttps](IMPORTANT): SBD MTMSN=20250904T184911
2025-09-04T18:49:20.400Z,1757011760.400 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 1u9lj 2 3
2025-09-04T18:49:20.426Z,1757011760.426 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 1u9lj 2 3.000000
2025-09-04T18:49:20.426Z,1757011760.426 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=1u9lj
2025-09-04T18:49:20.427Z,1757011760.427 [CommandExec](IMPORTANT): Scheduled #36 (#2 of 3 with id='1u9lj'): "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m", ASAP
2025-09-04T18:49:21.402Z,1757011761.402 [DataOverHttps](IMPORTANT): SBD MTMSN=20250904T184920
2025-09-04T18:49:28.973Z,1757011768.973 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 1u9lj 3 3
2025-09-04T18:49:28.983Z,1757011768.983 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 1u9lj 3 3.000000
2025-09-04T18:49:28.983Z,1757011768.983 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=1u9lj
2025-09-04T18:49:28.985Z,1757011768.985 [CommandExec](IMPORTANT): Scheduled #37 (#3 of 3 with id='1u9lj'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-09-04T18:49:29.129Z,1757011769.129 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-09-04T18:49:29.130Z,1757011769.130 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-09-04T18:49:29.131Z,1757011769.131 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-09-04T18:49:29.134Z,1757011769.134 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-09-04T18:49:30.976Z,1757011770.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:49:39.552Z,1757011779.552 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">
                    Timed out trying to reach the target depth. Stopping mission at current depth of 
                    <Universal:depth />
                    <Units:meter />
                </Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-09-04T18:49:39.578Z,1757011779.578 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-09-04T18:49:39.585Z,1757011779.585 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-09-04T18:49:39.587Z,1757011779.587 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-09-04T18:49:39.593Z,1757011779.593 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-09-04T18:49:39.595Z,1757011779.595 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-09-04T18:49:39.626Z,1757011779.626 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-09-04T18:49:39.628Z,1757011779.628 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-09-04T18:49:39.642Z,1757011779.642 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-09-04T18:49:39.656Z,1757011779.656 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-09-04T18:49:39.659Z,1757011779.659 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-09-04T18:49:39.669Z,1757011779.669 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-09-04T18:49:39.672Z,1757011779.672 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-09-04T18:49:39.682Z,1757011779.682 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-09-04T18:49:39.693Z,1757011779.693 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-09-04T18:49:39.695Z,1757011779.695 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-09-04T18:49:39.701Z,1757011779.701 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-09-04T18:49:39.704Z,1757011779.704 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-09-04T18:49:39.738Z,1757011779.738 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-09-04T18:49:39.794Z,1757011779.794 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-09-04T18:49:39.810Z,1757011779.810 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-09-04T18:49:39.825Z,1757011779.825 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-09-04T18:49:39.827Z,1757011779.827 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-09-04T18:49:39.849Z,1757011779.849 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-09-04T18:49:39.852Z,1757011779.852 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-09-04T18:49:39.878Z,1757011779.878 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-09-04T18:49:39.885Z,1757011779.885 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-09-04T18:49:39.887Z,1757011779.887 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-09-04T18:49:39.914Z,1757011779.914 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-09-04T18:49:39.928Z,1757011779.928 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-09-04T18:49:39.930Z,1757011779.930 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-09-04T18:49:39.942Z,1757011779.942 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-09-04T18:49:39.960Z,1757011779.960 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-09-04T18:49:39.963Z,1757011779.963 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-09-04T18:49:39.974Z,1757011779.974 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-09-04T18:49:39.988Z,1757011779.988 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-09-04T18:49:39.991Z,1757011779.991 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-09-04T18:49:40.006Z,1757011780.006 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-09-04T18:49:40.029Z,1757011780.029 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-09-04T18:49:40.031Z,1757011780.031 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-09-04T18:49:40.060Z,1757011780.060 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-09-04T18:49:40.063Z,1757011780.063 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-09-04T18:49:40.078Z,1757011780.078 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-09-04T18:49:40.085Z,1757011780.085 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-09-04T18:49:40.089Z,1757011780.089 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-09-04T18:49:40.089Z,1757011780.089 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-09-04T18:49:40.102Z,1757011780.102 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-09-04T18:49:44.013Z,1757011784.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:49:44.304Z,1757011784.304 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-09-04T18:49:44.331Z,1757011784.331 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-09-04T18:49:44.333Z,1757011784.333 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-09-04T18:49:44.335Z,1757011784.335 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-09-04T18:49:44.337Z,1757011784.337 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-09-04T18:49:44.339Z,1757011784.339 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-09-04T18:49:44.341Z,1757011784.341 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-09-04T18:49:44.343Z,1757011784.343 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-09-04T18:49:44.369Z,1757011784.369 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-09-04T18:49:44.372Z,1757011784.372 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-09-04T18:49:44.379Z,1757011784.379 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-09-04T18:49:44.385Z,1757011784.385 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-09-04T18:49:44.387Z,1757011784.387 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-09-04T18:49:44.393Z,1757011784.393 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-09-04T18:49:44.395Z,1757011784.395 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-09-04T18:49:44.410Z,1757011784.410 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-04T18:49:44.420Z,1757011784.420 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-04T18:49:44.422Z,1757011784.422 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-04T18:49:44.429Z,1757011784.429 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-04T18:49:44.431Z,1757011784.431 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-09-04T18:49:44.437Z,1757011784.437 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-09-04T18:49:44.450Z,1757011784.450 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-04T18:49:44.461Z,1757011784.461 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-04T18:49:44.463Z,1757011784.463 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-09-04T18:49:44.466Z,1757011784.466 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-09-04T18:49:44.477Z,1757011784.477 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-09-04T18:49:44.479Z,1757011784.479 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-09-04T18:49:44.486Z,1757011784.486 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-09-04T18:49:44.493Z,1757011784.493 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-09-04T18:49:44.500Z,1757011784.500 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-09-04T18:49:44.503Z,1757011784.503 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool
2025-09-04T18:49:44.519Z,1757011784.519 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-09-04T18:49:44.523Z,1757011784.523 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-09-04T18:49:44.537Z,1757011784.537 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-09-04T18:49:44.540Z,1757011784.540 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-09-04T18:49:44.550Z,1757011784.550 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-09-04T18:49:44.593Z,1757011784.593 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-09-04T18:49:44.595Z,1757011784.595 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-09-04T18:49:44.605Z,1757011784.605 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-09-04T18:49:44.608Z,1757011784.608 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count
2025-09-04T18:49:44.618Z,1757011784.618 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-09-04T18:49:44.628Z,1757011784.628 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-09-04T18:49:44.631Z,1757011784.631 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-09-04T18:49:44.657Z,1757011784.657 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-09-04T18:49:44.659Z,1757011784.659 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-09-04T18:49:44.670Z,1757011784.670 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-09-04T18:49:44.689Z,1757011784.689 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-09-04T18:49:44.691Z,1757011784.691 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-09-04T18:49:44.709Z,1757011784.709 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-09-04T18:49:44.711Z,1757011784.711 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-09-04T18:49:44.723Z,1757011784.723 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-09-04T18:49:44.733Z,1757011784.733 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-09-04T18:49:44.735Z,1757011784.735 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-09-04T18:49:44.746Z,1757011784.746 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-09-04T18:49:44.757Z,1757011784.757 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-09-04T18:49:44.759Z,1757011784.759 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-09-04T18:49:44.770Z,1757011784.770 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-09-04T18:49:44.775Z,1757011784.775 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-09-04T18:49:44.816Z,1757011784.816 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-09-04T18:49:44.819Z,1757011784.819 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-09-04T18:49:44.825Z,1757011784.825 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-09-04T18:49:44.828Z,1757011784.828 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-09-04T18:49:44.843Z,1757011784.843 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-09-04T18:49:44.873Z,1757011784.873 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-09-04T18:49:44.875Z,1757011784.875 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-09-04T18:49:44.882Z,1757011784.882 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-09-04T18:49:44.888Z,1757011784.888 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-09-04T18:49:44.898Z,1757011784.898 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-09-04T18:49:44.903Z,1757011784.903 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-09-04T18:49:44.905Z,1757011784.905 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-09-04T18:49:44.908Z,1757011784.908 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-09-04T18:49:44.911Z,1757011784.911 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-09-04T18:49:44.913Z,1757011784.913 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-09-04T18:49:44.915Z,1757011784.915 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-09-04T18:49:44.918Z,1757011784.918 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-09-04T18:49:44.920Z,1757011784.920 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-09-04T18:49:44.923Z,1757011784.923 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-09-04T18:49:44.925Z,1757011784.925 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-09-04T18:49:44.927Z,1757011784.927 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-09-04T18:49:44.930Z,1757011784.930 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-09-04T18:49:44.933Z,1757011784.933 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-09-04T18:49:44.935Z,1757011784.935 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-09-04T18:49:44.938Z,1757011784.938 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-09-04T18:49:44.941Z,1757011784.941 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-09-04T18:49:44.943Z,1757011784.943 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-09-04T18:49:44.946Z,1757011784.946 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-09-04T18:49:44.948Z,1757011784.948 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-09-04T18:49:44.997Z,1757011784.997 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-09-04T18:49:44.999Z,1757011784.999 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-09-04T18:49:45.010Z,1757011785.010 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-09-04T18:49:45.024Z,1757011785.024 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-09-04T18:49:45.026Z,1757011785.026 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-09-04T18:49:45.041Z,1757011785.041 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-09-04T18:49:45.043Z,1757011785.043 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-09-04T18:49:45.058Z,1757011785.058 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-09-04T18:49:45.073Z,1757011785.073 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-09-04T18:49:45.075Z,1757011785.075 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-09-04T18:49:45.089Z,1757011785.089 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-09-04T18:49:45.092Z,1757011785.092 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-09-04T18:49:45.094Z,1757011785.094 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-09-04T18:49:45.115Z,1757011785.115 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-09-04T18:49:45.126Z,1757011785.126 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-09-04T18:49:45.137Z,1757011785.137 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-09-04T18:49:45.139Z,1757011785.139 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-09-04T18:49:45.150Z,1757011785.150 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-09-04T18:49:45.161Z,1757011785.161 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-09-04T18:49:45.163Z,1757011785.163 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-09-04T18:49:45.174Z,1757011785.174 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-09-04T18:49:45.180Z,1757011785.180 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-09-04T18:49:45.186Z,1757011785.186 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-09-04T18:49:45.188Z,1757011785.188 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-04T18:49:45.191Z,1757011785.191 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-04T18:49:45.193Z,1757011785.193 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-09-04T18:49:45.204Z,1757011785.204 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-09-04T18:49:45.211Z,1757011785.211 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-09-04T18:49:45.213Z,1757011785.213 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-04T18:49:45.224Z,1757011785.224 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-04T18:49:45.226Z,1757011785.226 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-09-04T18:49:45.233Z,1757011785.233 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-09-04T18:49:45.235Z,1757011785.235 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-09-04T18:49:45.250Z,1757011785.250 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-09-04T18:49:45.256Z,1757011785.256 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-09-04T18:49:45.259Z,1757011785.259 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-09-04T18:49:45.266Z,1757011785.266 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-09-04T18:49:45.268Z,1757011785.268 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-09-04T18:49:45.271Z,1757011785.271 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-09-04T18:49:45.276Z,1757011785.276 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-09-04T18:49:45.278Z,1757011785.278 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-09-04T18:49:45.281Z,1757011785.281 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-09-04T18:49:45.283Z,1757011785.283 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-09-04T18:49:45.286Z,1757011785.286 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-09-04T18:49:45.289Z,1757011785.289 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-09-04T18:49:45.291Z,1757011785.291 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-09-04T18:49:45.294Z,1757011785.294 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-09-04T18:49:45.317Z,1757011785.317 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.349Z,1757011785.349 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-04T18:49:45.425Z,1757011785.425 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-04T18:49:45.451Z,1757011785.451 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.474Z,1757011785.474 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.500Z,1757011785.500 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-04T18:49:45.533Z,1757011785.533 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.585Z,1757011785.585 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.634Z,1757011785.634 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-04T18:49:45.680Z,1757011785.680 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.718Z,1757011785.718 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-04T18:49:45.767Z,1757011785.767 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.828Z,1757011785.828 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-04T18:49:45.871Z,1757011785.871 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.885Z,1757011785.885 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-04T18:49:45.907Z,1757011785.907 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-04T18:49:45.940Z,1757011785.940 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-04T18:49:45.962Z,1757011785.962 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-09-04T18:49:45.969Z,1757011785.969 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-04T18:49:45.970Z,1757011785.970 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-04T18:49:45.971Z,1757011785.971 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-04T18:49:46.076Z,1757011786.076 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-09-04T18:49:46.084Z,1757011786.084 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-04T18:49:46.087Z,1757011786.087 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-04T18:49:46.093Z,1757011786.093 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-04T18:49:46.095Z,1757011786.095 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-04T18:49:46.100Z,1757011786.100 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-04T18:49:46.111Z,1757011786.111 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-04T18:49:46.126Z,1757011786.126 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-04T18:49:46.143Z,1757011786.143 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-09-04T18:49:46.143Z,1757011786.143 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-09-04T18:49:46.149Z,1757011786.149 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-09-04T18:49:46.768Z,1757011786.768 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-09-04T18:49:46.816Z,1757011786.816 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-09-04T18:49:46.819Z,1757011786.819 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-09-04T18:49:46.837Z,1757011786.837 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-09-04T18:49:46.840Z,1757011786.840 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-09-04T18:49:46.854Z,1757011786.854 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-09-04T18:49:46.869Z,1757011786.869 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-09-04T18:49:46.871Z,1757011786.871 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-09-04T18:49:46.886Z,1757011786.886 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-09-04T18:49:46.908Z,1757011786.908 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-09-04T18:49:47.014Z,1757011787.014 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-09-04T18:49:47.014Z,1757011787.014 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-09-04T18:49:47.015Z,1757011787.015 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-09-04T18:49:47.183Z,1757011787.183 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-09-04T18:49:47.196Z,1757011787.196 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-09-04T18:49:47.217Z,1757011787.217 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-09-04T18:49:47.230Z,1757011787.230 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-09-04T18:49:47.237Z,1757011787.237 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-09-04T18:49:47.237Z,1757011787.237 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-09-04T18:49:47.241Z,1757011787.241 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-09-04T18:49:50.125Z,1757011790.125 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-09-04T18:49:50.151Z,1757011790.151 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg
2025-09-04T18:49:50.158Z,1757011790.158 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -121.859630 arcdeg
2025-09-04T18:49:50.194Z,1757011790.194 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-09-04T18:49:50.211Z,1757011790.211 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-09-04T18:49:50.296Z,1757011790.296 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-09-04T18:49:50.299Z,1757011790.299 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-09-04T18:49:50.326Z,1757011790.326 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-09-04T18:49:50.337Z,1757011790.337 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-09-04T18:49:50.339Z,1757011790.339 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-09-04T18:49:50.350Z,1757011790.350 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-09-04T18:49:50.389Z,1757011790.389 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-09-04T18:49:50.394Z,1757011790.394 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-09-04T18:49:50.395Z,1757011790.395 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-09-04T18:49:50.402Z,1757011790.402 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-09-04T18:49:50.415Z,1757011790.415 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-09-04T18:49:50.434Z,1757011790.434 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-09-04T18:49:50.444Z,1757011790.444 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-09-04T18:49:50.458Z,1757011790.458 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-09-04T18:49:50.468Z,1757011790.468 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-09-04T18:49:50.470Z,1757011790.470 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-09-04T18:49:50.481Z,1757011790.481 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-09-04T18:49:50.483Z,1757011790.483 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-09-04T18:49:50.493Z,1757011790.493 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-09-04T18:49:50.496Z,1757011790.496 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-09-04T18:49:50.522Z,1757011790.522 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-09-04T18:49:50.529Z,1757011790.529 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-09-04T18:49:50.531Z,1757011790.531 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-09-04T18:49:50.569Z,1757011790.569 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-09-04T18:49:50.576Z,1757011790.576 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-09-04T18:49:50.582Z,1757011790.582 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-09-04T18:49:50.589Z,1757011790.589 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-09-04T18:49:50.591Z,1757011790.591 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-09-04T18:49:50.647Z,1757011790.647 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-04T18:49:50.648Z,1757011790.648 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-04T18:49:50.681Z,1757011790.681 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-04T18:49:50.954Z,1757011790.954 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-09-04T18:49:50.962Z,1757011790.962 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-04T18:49:50.968Z,1757011790.968 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-04T18:49:50.970Z,1757011790.970 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-04T18:49:50.977Z,1757011790.977 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-04T18:49:50.978Z,1757011790.978 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-04T18:49:51.060Z,1757011791.060 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-04T18:49:51.075Z,1757011791.075 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-04T18:49:51.150Z,1757011791.150 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-09-04T18:49:51.159Z,1757011791.159 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-04T18:49:51.181Z,1757011791.181 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-09-04T18:49:51.181Z,1757011791.181 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-04T18:49:51.236Z,1757011791.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-09-04T18:49:51.242Z,1757011791.242 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-09-04T18:49:51.259Z,1757011791.259 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-09-04T18:49:51.282Z,1757011791.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-09-04T18:49:51.296Z,1757011791.296 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-09-04T18:49:51.346Z,1757011791.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-09-04T18:49:51.394Z,1757011791.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-09-04T18:49:51.410Z,1757011791.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-09-04T18:49:51.478Z,1757011791.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-09-04T18:49:51.479Z,1757011791.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-04T18:49:51.486Z,1757011791.486 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-09-04T18:49:51.738Z,1757011791.738 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-09-04T18:49:51.745Z,1757011791.745 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-09-04T18:49:51.747Z,1757011791.747 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-09-04T18:49:51.754Z,1757011791.754 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-09-04T18:49:51.761Z,1757011791.761 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-09-04T18:49:51.771Z,1757011791.771 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-09-04T18:49:51.810Z,1757011791.810 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-09-04T18:49:51.810Z,1757011791.810 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-09-04T18:49:51.811Z,1757011791.811 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-09-04T18:49:52.078Z,1757011792.078 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-09-04T18:49:52.093Z,1757011792.093 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-09-04T18:49:52.100Z,1757011792.100 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -121.859630 arcdeg
2025-09-04T18:49:52.102Z,1757011792.102 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-09-04T18:49:52.109Z,1757011792.109 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-09-04T18:49:52.119Z,1757011792.119 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-09-04T18:49:52.133Z,1757011792.133 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-09-04T18:49:52.133Z,1757011792.133 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-09-04T18:49:52.212Z,1757011792.212 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-09-04T18:49:52.212Z,1757011792.212 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-09-04T18:49:52.277Z,1757011792.277 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-09-04T18:49:52.294Z,1757011792.294 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-09-04T18:49:52.320Z,1757011792.320 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-09-04T18:49:52.343Z,1757011792.343 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-09-04T18:49:52.357Z,1757011792.357 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-09-04T18:49:52.366Z,1757011792.366 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-09-04T18:49:52.376Z,1757011792.376 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-09-04T18:49:52.388Z,1757011792.388 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-09-04T18:49:52.573Z,1757011792.573 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through the homing
      sequence.
      """

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

  call id="StartingMission" priorityHere=false refId="NeedComms"

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-09-04T18:49:52.573Z,1757011792.573 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-09-04T18:49:57.920Z,1757011797.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:50:12.413Z,1757011812.413 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:50:24.876Z,1757011824.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:50:37.408Z,1757011837.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:50:49.792Z,1757011849.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:50:58.697Z,1757011858.697 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 1 hour
2025-09-04T18:50:58.698Z,1757011858.698 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute
2025-09-04T18:50:58.698Z,1757011858.698 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-09-04T18:50:58.699Z,1757011858.699 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-09-04T18:51:02.080Z,1757011862.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:51:14.372Z,1757011874.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:51:26.536Z,1757011886.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:51:38.932Z,1757011898.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-04T18:51:46.256Z,1757011906.256 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-09-04T18:51:46.256Z,1757011906.256 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-09-04T18:51:46.256Z,1757011906.256 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-09-04T18:51:46.256Z,1757011906.256 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-09-04T18:51:46.645Z,1757011906.645 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-09-04T18:51:46.645Z,1757011906.645 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-09-04T18:51:47.064Z,1757011907.064 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  12.678062 min 
2025-09-04T18:51:47.064Z,1757011907.064 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-09-04T18:51:47.064Z,1757011907.064 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-09-04T18:51:47.065Z,1757011907.065 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-09-04T18:51:47.065Z,1757011907.065 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-09-04T18:51:47.065Z,1757011907.065 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-09-04T18:51:47.065Z,1757011907.065 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-09-04T18:51:47.065Z,1757011907.065 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-09-04T18:51:47.065Z,1757011907.065 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-09-04T18:51:49.035Z,1757011909.035 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185148.00,A,3646.80686,N,12151.64123,W,0.330,24.30,040925,,,D*44
2025-09-04T18:51:49.037Z,1757011909.037 [NAL9602](INFO): GPS fix at 20250904T185148: (36.780114, -121.860687)
2025-09-04T18:51:49.082Z,1757011909.082 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-09-04T18:51:49.082Z,1757011909.082 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-09-04T18:51:53.838Z,1757011913.838 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-09-04T18:52:01.988Z,1757011921.988 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250904T181833/Courier0009.lzma
2025-09-04T18:52:02.998Z,1757011922.998 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Courier0009.lzma.bak
2025-09-04T18:52:02.998Z,1757011922.998 [DataOverHttps](INFO): SBD MOMSN=25929471
2025-09-04T18:52:06.603Z,1757011926.603 [NAL9602](INFO): SBD MO Status=0, MOMSN=1277, MT Status=0, MTMSN=0
2025-09-04T18:52:06.603Z,1757011926.603 [NAL9602](INFO): No messages in MT queue
2025-09-04T18:52:26.494Z,1757011946.494 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 5 count
2025-09-04T18:52:26.495Z,1757011946.495 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1 minute
2025-09-04T18:52:26.496Z,1757011946.496 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.3 meter
2025-09-04T18:52:26.497Z,1757011946.497 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2025-09-04T18:52:26.498Z,1757011946.498 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter
2025-09-04T18:52:27.120Z,1757011947.120 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250904T181833/Courier0012.lzma
2025-09-04T18:52:28.122Z,1757011948.122 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Courier0012.lzma.bak
2025-09-04T18:52:28.122Z,1757011948.122 [DataOverHttps](INFO): SBD MOMSN=25929478
2025-09-04T18:52:37.449Z,1757011957.449 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-04T18:52:44.479Z,1757011964.479 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-09-04T18:52:44.479Z,1757011964.479 [CommandExec](IMPORTANT): got command run
2025-09-04T18:52:44.486Z,1757011964.486 [CommandExec](IMPORTANT): Running 
2025-09-04T18:52:44.606Z,1757011964.606 [DefaultWithUndock] Stopped
2025-09-04T18:52:44.606Z,1757011964.606 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-09-04T18:52:44.606Z,1757011964.606 [DefaultWithUndock:SurfaceDefault] Stopped
2025-09-04T18:52:44.607Z,1757011964.607 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-09-04T18:52:44.607Z,1757011964.607 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-09-04T18:52:44.607Z,1757011964.607 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-04T18:52:44.607Z,1757011964.607 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-09-04T18:52:44.607Z,1757011964.607 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-09-04T18:52:44.607Z,1757011964.607 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-09-04T18:52:44.607Z,1757011964.607 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-09-04T18:52:44.607Z,1757011964.607 [lineCaptureHoming] Running Loop=1
2025-09-04T18:52:44.607Z,1757011964.607 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-09-04T18:52:44.608Z,1757011964.608 [lineCaptureHoming:Science] Running Loop=1
2025-09-04T18:52:44.608Z,1757011964.608 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:A] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:B] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:C] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:D] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:E] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:F] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-09-04T18:52:44.620Z,1757011964.620 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-04T18:52:44.621Z,1757011964.621 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-04T18:52:44.622Z,1757011964.622 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-09-04T18:52:44.622Z,1757011964.622 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-09-04T18:52:44.622Z,1757011964.622 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-09-04T18:52:44.622Z,1757011964.622 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-09-04T18:52:44.622Z,1757011964.622 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-09-04T18:52:44.623Z,1757011964.623 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-09-04T18:52:44.623Z,1757011964.623 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-09-04T18:52:44.623Z,1757011964.623 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-09-04T18:52:44.623Z,1757011964.623 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-04T18:52:44.623Z,1757011964.623 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-04T18:52:44.624Z,1757011964.624 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-09-04T18:52:44.624Z,1757011964.624 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-09-04T18:52:44.632Z,1757011964.632 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-09-04T18:52:44.632Z,1757011964.632 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-09-04T18:52:44.632Z,1757011964.632 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-09-04T18:52:44.632Z,1757011964.632 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-09-04T18:52:44.633Z,1757011964.633 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-09-04T18:52:44.633Z,1757011964.633 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-09-04T18:52:44.633Z,1757011964.633 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-04T18:52:44.633Z,1757011964.633 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-04T18:52:44.633Z,1757011964.633 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-04T18:52:44.633Z,1757011964.633 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-04T18:52:44.634Z,1757011964.634 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-04T18:52:44.635Z,1757011964.635 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-04T18:52:44.636Z,1757011964.636 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-04T18:52:44.636Z,1757011964.636 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-04T18:52:44.644Z,1757011964.644 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-09-04T18:52:44.644Z,1757011964.644 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-09-04T18:52:44.644Z,1757011964.644 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-09-04T18:52:44.645Z,1757011964.645 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-09-04T18:52:44.646Z,1757011964.646 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:52:44.647Z,1757011964.647 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-09-04T18:52:44.647Z,1757011964.647 [lineCaptureHoming:J] Running Loop=1
2025-09-04T18:52:44.647Z,1757011964.647 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-09-04T18:52:44.647Z,1757011964.647 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-09-04T18:52:44.647Z,1757011964.647 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-04T18:52:44.647Z,1757011964.647 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-04T18:52:44.656Z,1757011964.656 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-09-04T18:52:44.656Z,1757011964.656 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-04T18:52:44.656Z,1757011964.656 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-04T18:52:44.656Z,1757011964.656 [lineCaptureHoming:C] Running Loop=1
2025-09-04T18:52:44.658Z,1757011964.658 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-09-04T18:52:44.658Z,1757011964.658 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-04T18:52:44.658Z,1757011964.658 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-09-04T18:52:44.659Z,1757011964.659 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-04T18:52:44.659Z,1757011964.659 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-09-04T18:52:44.659Z,1757011964.659 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-09-04T18:52:44.659Z,1757011964.659 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-09-04T18:52:44.660Z,1757011964.660 [lineCaptureHoming:J] Stopped
2025-09-04T18:52:44.660Z,1757011964.660 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-09-04T18:52:44.669Z,1757011964.669 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-04T18:52:44.669Z,1757011964.669 [lineCaptureHoming:C] Stopped
2025-09-04T18:52:44.669Z,1757011964.669 [lineCaptureHoming:D] Running Loop=1
2025-09-04T18:52:44.669Z,1757011964.669 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-09-04T18:52:44.669Z,1757011964.669 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-04T18:52:44.670Z,1757011964.670 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-04T18:52:44.670Z,1757011964.670 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-04T18:52:44.670Z,1757011964.670 [lineCaptureHoming:Science] Running Loop=1
2025-09-04T18:52:44.680Z,1757011964.680 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-09-04T18:52:44.680Z,1757011964.680 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-09-04T18:52:44.680Z,1757011964.680 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-09-04T18:52:44.681Z,1757011964.681 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-09-04T18:52:44.682Z,1757011964.682 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-04T18:52:44.683Z,1757011964.683 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-09-04T18:52:44.684Z,1757011964.684 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-09-04T18:52:44.684Z,1757011964.684 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-04T18:52:44.693Z,1757011964.693 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-09-04T18:52:44.694Z,1757011964.694 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-09-04T18:52:44.694Z,1757011964.694 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-09-04T18:52:44.694Z,1757011964.694 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-09-04T18:52:44.694Z,1757011964.694 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-09-04T18:52:44.694Z,1757011964.694 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-09-04T18:52:44.694Z,1757011964.694 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-09-04T18:52:44.695Z,1757011964.695 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-09-04T18:52:44.695Z,1757011964.695 [lineCaptureHoming:Science:F] Stopped
2025-09-04T18:52:44.695Z,1757011964.695 [lineCaptureHoming:Science:E] Running Loop=1
2025-09-04T18:52:44.704Z,1757011964.704 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-09-04T18:52:44.704Z,1757011964.704 [lineCaptureHoming:Science:D] Stopped
2025-09-04T18:52:44.704Z,1757011964.704 [lineCaptureHoming:Science:C] Running Loop=1
2025-09-04T18:52:44.705Z,1757011964.705 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-09-04T18:52:44.705Z,1757011964.705 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-09-04T18:52:44.705Z,1757011964.705 [lineCaptureHoming:Science:B] Running Loop=1
2025-09-04T18:52:44.706Z,1757011964.706 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-09-04T18:52:44.706Z,1757011964.706 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-09-04T18:52:44.706Z,1757011964.706 [lineCaptureHoming:Science:A] Stopped
2025-09-04T18:52:45.025Z,1757011965.025 [lineCaptureHoming:MicromodemComms] Stopped
2025-09-04T18:52:45.025Z,1757011965.025 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-09-04T18:52:45.025Z,1757011965.025 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-09-04T18:52:45.025Z,1757011965.025 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-09-04T18:52:45.025Z,1757011965.025 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-09-04T18:52:45.026Z,1757011965.026 [lineCaptureHoming:D] Stopped
2025-09-04T18:52:45.026Z,1757011965.026 [lineCaptureHoming:E] Running Loop=1
2025-09-04T18:52:45.514Z,1757011965.514 [lineCaptureHoming:E] Stopped
2025-09-04T18:52:45.514Z,1757011965.514 [lineCaptureHoming:G] Running Loop=1
2025-09-04T18:52:45.529Z,1757011965.529 [WetLabsBB2FL](INFO): Powering up
2025-09-04T18:52:45.843Z,1757011965.843 [lineCaptureHoming:G] Stopped
2025-09-04T18:52:45.843Z,1757011965.843 [lineCaptureHoming:H] Running Loop=1
2025-09-04T18:52:46.183Z,1757011966.183 [lineCaptureHoming:H] Stopped
2025-09-04T18:52:46.183Z,1757011966.183 [lineCaptureHoming:L] Running Loop=1
2025-09-04T18:52:46.601Z,1757011966.601 [lineCaptureHoming:L] Stopped
2025-09-04T18:52:46.601Z,1757011966.601 [lineCaptureHoming:M] Running Loop=1
2025-09-04T18:52:47.030Z,1757011967.030 [lineCaptureHoming:M] Stopped
2025-09-04T18:52:47.030Z,1757011967.030 [lineCaptureHoming:N] Running Loop=1
2025-09-04T18:52:47.488Z,1757011967.488 [lineCaptureHoming:N] Stopped
2025-09-04T18:52:47.488Z,1757011967.488 [lineCaptureHoming:O] Running Loop=1
2025-09-04T18:52:47.814Z,1757011967.814 [lineCaptureHoming:O] Stopped
2025-09-04T18:52:47.814Z,1757011967.814 [lineCaptureHoming:P] Running Loop=1
2025-09-04T18:52:48.002Z,1757011968.002 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-09-04T18:52:48.216Z,1757011968.216 [lineCaptureHoming:P] Stopped
2025-09-04T18:52:48.220Z,1757011968.220 [lineCaptureHoming:Q] Running Loop=1
2025-09-04T18:52:48.683Z,1757011968.683 [lineCaptureHoming:Q] Stopped
2025-09-04T18:52:48.683Z,1757011968.683 [lineCaptureHoming:U] Running Loop=1
2025-09-04T18:52:49.035Z,1757011969.035 [lineCaptureHoming:U] Stopped
2025-09-04T18:52:49.035Z,1757011969.035 [lineCaptureHoming:StartingMission] Running Loop=1
2025-09-04T18:52:49.035Z,1757011969.035 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-09-04T18:52:49.487Z,1757011969.487 [lineCaptureHoming:NeedComms] Running Loop=1
2025-09-04T18:52:49.487Z,1757011969.487 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-09-04T18:52:49.487Z,1757011969.487 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-09-04T18:52:49.487Z,1757011969.487 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-09-04T18:52:49.488Z,1757011969.488 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-09-04T18:52:49.489Z,1757011969.489 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-09-04T18:52:49.490Z,1757011969.490 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-09-04T18:52:49.490Z,1757011969.490 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-09-04T18:52:49.491Z,1757011969.491 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-09-04T18:52:49.492Z,1757011969.492 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-09-04T18:52:49.500Z,1757011969.500 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-09-04T18:52:49.502Z,1757011969.502 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1757011908.000000 second since 1970/01/01T00:00:00Z 
2025-09-04T18:52:49.502Z,1757011969.502 [lineCaptureHoming:NeedComms:A] Stopped
2025-09-04T18:52:49.730Z,1757011969.730 [DataOverHttps](INFO): Sending 723 bytes from file Logs/20250904T181833/Express0010.lzma
2025-09-04T18:52:49.820Z,1757011969.820 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-09-04T18:52:50.289Z,1757011970.289 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-04T18:52:50.730Z,1757011970.730 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Express0010.lzma.bak
2025-09-04T18:52:50.731Z,1757011970.731 [DataOverHttps](INFO): SBD MOMSN=25929480
2025-09-04T18:52:51.822Z,1757011971.822 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185251.00,A,3646.81060,N,12151.63861,W,0.253,49.89,040925,,,D*45
2025-09-04T18:52:51.824Z,1757011971.824 [NAL9602](INFO): GPS fix at 20250904T185251: (36.780177, -121.860643)
2025-09-04T18:52:51.838Z,1757011971.838 [lineCaptureHoming:NeedComms:C] Stopped
2025-09-04T18:52:51.838Z,1757011971.838 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-09-04T18:52:52.263Z,1757011972.263 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-04T18:53:05.554Z,1757011985.554 [NAL9602](INFO): SBD MO Status=0, MOMSN=1278, MT Status=0, MTMSN=0
2025-09-04T18:53:05.554Z,1757011985.554 [NAL9602](INFO): No messages in MT queue
2025-09-04T18:53:08.792Z,1757011988.792 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250904T181833/Courier0015.lzma
2025-09-04T18:53:09.794Z,1757011989.794 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Courier0015.lzma.bak
2025-09-04T18:53:09.794Z,1757011989.794 [DataOverHttps](INFO): SBD MOMSN=25929502
2025-09-04T18:53:27.024Z,1757012007.024 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250904T181833/Express0013.lzma
2025-09-04T18:53:28.026Z,1757012008.026 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Express0013.lzma.bak
2025-09-04T18:53:28.026Z,1757012008.026 [DataOverHttps](INFO): SBD MOMSN=25929505
2025-09-04T18:53:36.281Z,1757012016.281 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-04T18:53:44.892Z,1757012024.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-04T18:53:45.049Z,1757012025.049 [DAT](DEBUG): Acoustic response timeout
2025-09-04T18:53:45.049Z,1757012025.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-04T18:53:45.117Z,1757012025.117 [DataOverHttps](INFO): Sending 347 bytes from file Logs/20250904T181833/Express0016.lzma
2025-09-04T18:53:45.302Z,1757012025.302 [DAT](INFO): DAT read: user:3035>

2025-09-04T18:53:45.303Z,1757012025.303 [DAT](INFO): DAT read: Tx time:18:53:44.4204

2025-09-04T18:53:45.303Z,1757012025.303 [DAT](INFO): Ping request sent.
2025-09-04T18:53:45.303Z,1757012025.303 [DAT](INFO): transmitted an acoustic signal
2025-09-04T18:53:45.303Z,1757012025.303 [DAT](INFO): publishing transmit ping time
2025-09-04T18:53:45.304Z,1757012025.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-09-04T18:53:45.553Z,1757012025.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249884
2025-09-04T18:53:45.805Z,1757012025.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502042
2025-09-04T18:53:46.057Z,1757012026.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754014
2025-09-04T18:53:46.118Z,1757012026.118 [DataOverHttps](INFO): Moved sent file to Logs/20250904T181833/Express0016.lzma.bak
2025-09-04T18:53:46.118Z,1757012026.118 [DataOverHttps](INFO): SBD MOMSN=25929508
2025-09-04T18:53:46.313Z,1757012026.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009973
2025-09-04T18:53:46.561Z,1757012026.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257989
2025-09-04T18:53:46.813Z,1757012026.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510205
2025-09-04T18:53:47.065Z,1757012027.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761981
2025-09-04T18:53:47.317Z,1757012027.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014182
2025-09-04T18:53:47.569Z,1757012027.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266049
2025-09-04T18:53:47.651Z,1757012027.651 [lineCaptureHoming:NeedComms:D] Stopped
2025-09-04T18:53:47.651Z,1757012027.651 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-09-04T18:53:47.821Z,1757012027.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518157
2025-09-04T18:53:48.021Z,1757012028.021 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-09-04T18:53:48.073Z,1757012028.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769995
2025-09-04T18:53:48.325Z,1757012028.325 [DAT](INFO): DAT read: Rx Time:18:53:47.0244

2025-09-04T18:53:48.325Z,1757012028.325 [DAT](INFO): Rx dataTimestamp_ set to:1757012028.325197
2025-09-04T18:53:48.326Z,1757012028.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023085
2025-09-04T18:53:48.577Z,1757012028.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273950
2025-09-04T18:53:48.839Z,1757012028.839 [DAT](INFO): DAT read: 18:53:47.0244 LVL= 14272, 16337, 21986, 17811, AGC= 71, IDX=  59, 0.11, 0.543,-1.017,-0.571,-0.382, PHS= 1.026,-0.590,-0.233, RAW= 102.1,  -2.8, CAL= 102.3,  -4.1, ROT=  47.7,   4.1

2025-09-04T18:53:48.840Z,1757012028.840 [DAT](INFO): got valid direction response:
 18:53:47.0244 LVL= 14272, 16337, 21986, 17811, AGC= 71, IDX=  59, 0.11, 0.543,-1.017,-0.571,-0.382, PHS= 1.026,-0.590,-0.233, RAW= 102.1,  -2.8, CAL= 102.3,  -4.1, ROT=  47.7,   4.1

2025-09-04T18:53:48.841Z,1757012028.841 [DAT](INFO): DAT read: Bearing 244.3,  45.9 (Local)

2025-09-04T18:53:48.841Z,1757012028.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.3,  45.9 (Local)

2025-09-04T18:53:48.842Z,1757012028.842 [DAT](INFO): DAT read: Range 11 to 50 : 149.9 m  (Round-trip  199.9 ms) speed  0.0 m/s

2025-09-04T18:53:48.843Z,1757012028.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-04T18:53:48.845Z,1757012028.845 [DAT](INFO): direction in FSK: [0.671290,0.737738,-0.071497]
2025-09-04T18:53:48.845Z,1757012028.845 [DAT](INFO): publishing direction and range info
2025-09-04T18:53:49.631Z,1757012029.631 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185348.00,A,3646.81496,N,12151.63733,W,0.428,32.91,040925,,,A*43
2025-09-04T18:53:49.633Z,1757012029.633 [NAL9602](INFO): GPS fix at 20250904T185348: (36.780249, -121.860622)
2025-09-04T18:53:49.788Z,1757012029.788 [lineCaptureHoming:NeedComms:E] Stopped
2025-09-04T18:53:49.793Z,1757012029.793 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-09-04T18:53:49.793Z,1757012029.793 [lineCaptureHoming:NeedComms] Stopped
2025-09-04T18:53:49.793Z,1757012029.793 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-09-04T18:53:49.793Z,1757012029.793 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-09-04T18:53:49.793Z,1757012029.793 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-09-04T18:53:50.095Z,1757012030.095 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-09-04T18:53:50.095Z,1757012030.095 [lineCaptureHoming:StartingMission] Stopped
2025-09-04T18:53:50.095Z,1757012030.095 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-09-04T18:53:50.095Z,1757012030.095 [lineCaptureHoming:Z] Running Loop=1
2025-09-04T18:53:50.476Z,1757012030.476 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-09-04T18:53:50.476Z,1757012030.476 [lineCaptureHoming:Z] Stopped
2025-09-04T18:53:50.480Z,1757012030.480 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-09-04T18:53:50.904Z,1757012030.904 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-09-04T18:53:50.904Z,1757012030.904 [lineCaptureHoming:BA.Execute] Stopped
2025-09-04T18:53:50.904Z,1757012030.904 [lineCaptureHoming:InitialDive] Running Loop=1
2025-09-04T18:53:50.905Z,1757012030.905 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-09-04T18:53:50.905Z,1757012030.905 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-09-04T18:53:50.905Z,1757012030.905 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.